a list of material explaining ICP algorithm:
- simple and easy-to-understand explanation on both ICP and its variants
- blog post explaining each step of the ICP algorithm (in Japanese) (1の内容を簡潔にまとめたブログ記事)
- Robust Registration of 2D and 3D Point Sets: FitzgibbonがBMVC 2001で発表した論文．読みやすい
- MatLab and Python code
SVDを使って剛体変換(R, t)を求める方法は，この資料が分かりやすい
