For more details, please check the paper and our source code:
https://openaccess.thecvf.com/content/CVPR2022/papers/Stoiber_Iterative_Corresponding_Geometry_Fusing_Region_and_Depth_for_Highly_Efficient_CVPR_2022_paper.pdf
https://github.com/DLR-RM/3DObjectTracking/tree/master/ICG