Iterative closest point (ICP) is a method commonly used to perform scan-matching and registration. To be a simple and robust algorithm. it is still computationally expensive. and it has been regarded as having a crucial challenge especially in a real-time application as used for the simultaneous localization and mapping (SLAM) problem. https://www.bekindtopets.com/save-now-Aqua-Pure-3MFF101-Full-Flow-Drinking-Water-System-Replacement-Cartridge-flash-choice/