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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.

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  • $\begingroup$ There might be several variants of the ICP algorithm. Why not ask your tutor? They would be best placed to answer questions about the tutorial, which we haven't been to. $\endgroup$ – Yuval Filmus Sep 5 '18 at 6:40

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