 In this manner, even with extreme outlier ratios, inliers can be detected and collected for solving the optimal transformation , leading to our robust registration solver ICOS.
<meaning-changed>  In this manner, even with extreme outlier ratios, inliers can be detected and collected for solving the optimal transformation , leading to our robust registration solver ICOS.
 In this manner, even with extreme outlier ratios, inliers can be detected and collected for solving the optimal rotation and transformation effectively , leading to our robust registration solver ICOS.