The paper presents AORESP, an axis-angle decoupled rotation estimator that uses stereographic projection and 2D Hough voting, claiming 0.07 seconds and 0.01 degrees on 10^6 points with 90% outliers.
Fast rotation search with stereographic projections for 3d registration,
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Accelerating Outlier-robust Rotation Estimation by Stereographic Projection
The paper presents AORESP, an axis-angle decoupled rotation estimator that uses stereographic projection and 2D Hough voting, claiming 0.07 seconds and 0.01 degrees on 10^6 points with 90% outliers.