Iterative Closest Point (ICP) algorithm developed by Besl and Mckay, is a well-known method to align 3D shapes. However ICP requires that every point in one set have a corresponding point on the other set. This cannot be guaranteed in practice. As a result modified ICP algorithms exist in the literature.
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(2009). ICP Algorithm. In: Li, S.Z., Jain, A. (eds) Encyclopedia of Biometrics. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-73003-5_360
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DOI: https://doi.org/10.1007/978-0-387-73003-5_360
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