# Iterative Closest Point - Start from initial guess - Iterate - For each point on M, find closest point on P - Find best transform for this correspondence Transform M - Good initial guess -> Converges to global minimum - The ICP is applicable when we have a relatively good starting point in advance. - Otherwise, it will be trapped into the first local minimum and the solution will be useless. - Without pose information, ICP-based approaches are unable to recover the proper transformations because of the ambiguity in surface matching. -