Details of ICP algorithm

[Karido]

Hello,

I just wanted to ask if there is somewhere a specific documentation about the ICP used in CloudCompare?

The docs state that the "modified-ICP algorithm we use is able to determine a potential difference in scaling". I am interested in the detailed techniques that are used to determine the similarity transform.

Is there a paper that can be referred to or can someone give a short explanation of the algorithm?
It would be great to know the deatils for some documented research.

Thanks in advance.

[daniel]

Hi, here it is: https://www.prof-schmidt-consulting.de/ ... p_2005.pdf

[Karido]

Perfect! Thank you!