I'm trying to implement the ICP Algorithm following tutorial (is a short one):
The issue I have is that some papers said that I have to find first the closest points, but the tutorial didn't say anything about that. Do I have to create another dataset C, that associate every point of the dataset B with the closets point of dataset A (my reference)? So I can Apply the H Covariance Matrix and the SVD? Because I have two artificial datasets with a different number of points, so I can't apply the algorithm directly without removing some points.