Iterative Closest Point (ICP) [1][2][3] is an algorithm employed to minimize the difference between two clouds of points.
http://www.mathworks.com/matlabcentral/fileexchange/12627-iterative-closest-point-method
http://www.mathworks.com/matlabcentral/fileexchange/27804-iterative-closest-point
http://projects.asl.ethz.ch/datasets/doku.php?id=laserregistration:laserregistration
IDC
The idc algorithm does a point-to-point correspondence for calculating the scan alignment. The correspondence problem is solved by two heuristics: the closest point rule and the matching range rule. Furthermore, a formula is provided for calculating an error covariance matrix of the scan matching
原文：http://www.cnblogs.com/yhlx125/p/4955337.html