English: Point set registration of a blue point set ${\displaystyle {\mathcal {M}}}$ to the red point set ${\displaystyle {\mathcal {S}}}$ using the Coherent Point Drift algorithm. Both point sets have been corrupted with removed points and random spurious outlier points. The algorithm finds the best Affine transformation such that the point sets are aligned.

This picture was created using the reference implementation of coherent point drift by Myronenko and Song, which is available under the GPL.^[1]