Hello, I'm hoping everyone can give some help or suggestion here.

The problem is I'm trying to understand how icp(iterative closest point) algorithm works? I'm already found some C++ implementation of this algorithm and some paper to read for the understanding.

I'm managed to understand how this algorithm works, however I'm lack of basic for the mathematical derivation.

I'm hope someone here in this forum already had knowledge about this algorithm, and give some tips to me for better understanding. Maybe a paper that explained this algorithm or a website. Or also you can tell me what subject should i tackle first or something like that.

Thank you very much.

Regard.