ICP, an open-source implementation of the iteratively closest point library. ROS wrapper for the implementation of the Iteratively Closest Point algorithm, originally implemented by Per Bergstrom, released under BSD. It uses a kd-Tree library, originally implemented by Guy Shechter, released under BSD. http://www.mathworks.com/matlabcentral/fileexchange/16766 http://www.mathworks.com/matlabcentral