Program not converging after the first execution

I am trying to implement ICP algorithm using MATLAB for point clouds. While running the program for the first time, I am getting the desired results. But when I again execute it, the program seems not to converge and gives undesired outputs. I have to restart matlab every time to see the outputs. Is there any fix for this problem?

All suggestions will be highly appreciated

Thanks

Sandeep

Answer 1

[Andreas Goser]

This sounds like there are issues with variables (names) that are used for your calculation, but are also overwritten. Thus different values are used for the second run with different results.

You can verify this by clearing all variables before the second run.

In general, you can debug the code and look at intermediate results and compare first and second run. This will guide to the line(s) causing the issue.

[Walter Roberson]

Another possibility would be if the algorithm uses the random number generator and is sensitive to the random stream.

[Sandeep Sasidharan]

Thank you....It was the random number generator which caused the problem.