The demo code of our ISPRS 2022 paper. If it is helpful for you, please cite our work:
Li, J., Hu, Q., Zhang, Y., & Ai, M. (2022). Robust symmetric iterative closest point. ISPRS Journal of Photogrammetry and Remote Sensing, 185, 219-231.
Li, J., Hu, Q., Ai, M., & Wang, S. (2021). A geometric estimation technique based on adaptive M-estimators: Algorithm and applications. IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing, 14, 5613-5626.