Wei Gao and Russ Tedrake, "FilterReg: Robust and Efficient Probabilistic Point-Set Registration using Gaussian Filter and Twist Parameterization." CVPR 2019 (Best Paper Finalist), [Paper] [Code] [Supplemental]
The code is available here. The twist-based deformable model is in another repo.
@inproceedings{gao18filterreg,
title={FilterReg: Robust and Efficient Probabilistic Point-Set Registration using Gaussian Filter and Twist Parameterization},
author={Gao, Wei and Tedrake, Russ},
Booktitle={Conference On Computer Vision and Pattern Recognition (CVPR)},
year={2019}
}