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ICP registration algorithm
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Famous iteration of the nearest point algorithm (ICP) source code, in the mid 1980 of the 20th century, many scholars are beginning to point set data registration of a large number of studies. In 1987, the Horn, the Quaternion method is Arun, who proposed point set point set registration method. And set coordinates of this point set matching algorithm for complex matching problem proved to be a critical method. In 1992, computer vision researcher Besl and Mckay, based on a high level of free-form surface registration method, also referred to as iterative nearest point ICP (Iterative Closest Point). Point
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