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In recent years, sensors capable of measuring both color and depth information have become increasingly popular. Despite the abundance of colored point set data, stateof-the-art probabilistic registration techniques ignore the available color information. In this paper, we propose a probabilistic point set registration framework that exploits available color information associated with the points. Our method is based on a model of the joint distribution of 3D-point observations and their colordoi:10.1109/cvpr.2016.201 dblp:conf/cvpr/DanelljanMKF16 fatcat:l4nlprbu4rgkpjgqses2apqlmu