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The 3D Toolkit provides algorithms and methods to process 3D point clouds. In includes automatic precise registration (6D simultaneous localization and mapping, 6D SLAM) and other tools, e.g., a fast 3D viewer, plane extraction software, etc.
The 3D Slicer is freely available, open-source software for visualization, registration, segmentation, and quantification of medical image data. Follow the link for more info: http://slicer.org