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In general, for ICP to work well you will need to have planar regions that can be detected. If you have irregular surfaces , even though they are features, the ICP will fail as it will not converge to the correct transformation.

ethasl_icp_mapping uses the libpointmatcher as the ICP algorithm. You can probably tune the ICP parameters using the documentation to see if it helps your case as they have numerous filters and algorithms to test out.