Python implementation of the SVD-based variant of the Iterative Closest Point (ICP) algorithm for matching 2 point clouds.

The Wikipedia reference can be found here:

https://en.wikipedia.org/wiki/Iterative_closest_point

An interesting paper comparing different ICP variants can be found here:

http://graphics.stanford.edu/~smr/ICP/comparison/eggert_comparison_mva97.pdf

An implementation of ICP using the Open3D Python 3D data processing library can be found here:

http://www.open3d.org/docs/release/python_api/open3d.registration.registration_icp.html#open3d.registration.registration_icp

A C++ implementation using the Point Cloud Library (PCL) can be found here:

https://pointclouds.org/documentation/classpcl_1_1_iterative_closest_point.html