 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.
<clarity>  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 transformation , leading to our robust solver ICOS.