title: Object registration kinect with ICP and orientation
body: <p>I am trying to register a small symmetric object (Ex: a cube) using point clouds from kinect. I am rotating the object around its axis and getting point clouds of the object at orientations at 0, 90, 180, 270 degrees w.r.t. a global frame. </p>
  
  <p>Now, I would like to combine all these four individual point clouds into one point cloud that represents/models the object. For this I would like to use ICP and the orientation information. Is there any approach that takes advantage of the orientation information to be used with Iterative Closest Point (ICP) approach ?</p>
  
  <p>Or is there any other simpler way to do this ?</p>
  
  <p>Thank you</p>