Merging Depth Maps for multi view stereo?

Question

Is there a simple to implement way of merging depth maps? I take pictures of a statue from 3 different positions .Then each stereo pair produces a disparity map.I re-project it to depth using triangulation .Finally I get 3 set of 3d points.How can I merge them into one 3d model?

Answer 1

I guess Iterative Closest Point algorithm can be employed for this.