[Insight-users] ICP variants

[Sam Theisens]

Hi everyone,

I want to implement Horn's closed form solution to rigid registration,
because the current ICP framework in ITK seems to be a bit difficult to
adjust to my needs. Horn's algorithm is recommended in Besl's ICP paper. 
- Is it true that Horn's solution was not implemented in ITK or VTK, or have
I simply overlooked?
- Is it a good optimization method to use in registration of partially
overlapping point sets with ICP?

Best regards,

Sam Theisens