Before revision:  Through plentiful experiments over standard real datasets, we demonstrate that: (i) our solver ICOS is fast, accurate, robust against as many as 99 \% outliers with nearly 100\% recall ratio of inliers whether the scale is known or unknown , outperforming other state-of-the-art methods,  (ii) ICOS is practical for use in  real-world applications.
After revision:  Through plentiful experiments over standard real datasets, we demonstrate that: (i) our solver ICOS is fast, accurate, robust against as many as 99 \% outliers with nearly 100\% recall ratio of inliers for rotation search and both known-scale and unknown-scale registration , outperforming other state-of-the-art methods, (ii) ICOS is practical for use in real-world applications.