Localization and mapping are key requirements for autonomous mobile systems to perform navigation and interaction tasks. Iterative Closest Point (ICP) is widely applied for LiDAR scan-matching in the robotic community. In addition. the standard ICP algorithm only considers geometric information when iteratively searching for the nearest point. https://www.roneverhart.com/Nova-Medical-Phoenix-Rise-UP-Rollator-Upright-Rolling-Walker/