Advantages of ICP algorithms based on closest point
 

•  Suited for parallel architecture

•  It is stable and robust even for special cases

•  Does not require any local feature extraction

•  The method can be generalized to n-dimensional space

•  Can be used in conjunction with other algorithms or variants

Disadvantages of ICP algorithms based on closest point
 

•  Needs an initial guess

•  Needs preprocessing steps (for triangulation, for mesh simplification, for 3D-trees)

•  Not so fast because of finding the closest point pairs