are ICP methods the same in kinectFusion and ElasticFusion?

[voyage19941119]

I have problems in reading codes in ICP parts ,I am a little bit confused about ICP part in Kintinuous ,ElasticFusion , are they same to ICP in kinetcFuison? solved by approximately linear method? Thanks for answer！

[dcanelhas]

They are all variants on ICP, but with different error terms. The solution generally relies on some form of Gauss-Newton method for least-squares fitting the current observations to a model. I find it easier to read the papers if you want the details, not the code. I'm unsure whether this counts as an actual issue with the software implementation