Can predicted frame be aligned consistently?

[shilei-ustcer]

Hi,
Me again from discussion about your "drc" paper.
Since predicted frames can be arbitrary, I wonder what we can do to make them align consistently. In your paper, the event cost for depth image is difference between depth associated with sample point and real depth. In this formula, if we replace depth associated with sample point, i.e., instead of using distance to sample point, we use distance to the voxel where the sample point settles.

Our hope is to minimize distance to voxel rather than sample point. If we use this replacement, can predicted frame be aligned consistently? What's your opinion? Looking forward to your reply