Go-ICP

Uses branch-and-bound search to guarantee the best rigid transformation, avoiding local minima issues common in standard ICP variants, as detailed in the ICCV and TPAMI papers.

Implements a trimming strategy that can discard non-overlapping regions, making it effective for noisy or incomplete point clouds, with tuning guidance in the README.

Employs a 3D distance transform for closest-point calculations, ensuring performance scales independently of model point count, as noted in the optimization tips.

Allows fine-tuning of parameters like convergence thresholds and trimming percentages via configuration files, offering flexibility for different datasets, demonstrated in the config_example.txt.