3D point cloud 1 3D point cloud registration 1 3D surface 1 3D surface matching 1 3d point cloud registration 1 3d surface matching 1 Iterative Closest Points 1 Iterative methods 1 Matching algorithm 1 Mean square error 1 Partitioning 1 Point cloud registration 1 Point matching algorithm 1 Point-matching 1 Rigid body registrations 1 Surface matching 1 Surface measurement 1 iterative closest point 1 partitioning 1 point matching algorithm rigid body registration 1