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I found that the implementation found here: http://www.mathworks.com/matlabcentral/fileexchange/24301-finite-iterative-closest-point performs better.
Only works for simulated data. Real data needs a super high overlap already. Method works not as it should, it is more like iterative-most-overlap algorithm instead of closes point.
tested it on a lot of data. amounted to 6Gb ram. awful function for something so simple.
Undefined function 'fmin' for input arguments of type 'char'.