is there any advantage of colored ICP over robust ICP for colored point clouds?

[juandavid212]

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Checklist

• [X] I have searched for similar issues.
• [X] For Python issues, I have tested with the latest development wheel.
• [X] I have checked the release documentation and the latest documentation (for master branch).

My Question

Hello, I'm currently working with colored point clouds of objects without a background, the point clouds are obtained from an RGB-D camera. After some post-processing, the cloud is quite clean and dense. The point clouds are normally misaligned by a few centimeters, after some trials the ICP with a robust kernel (similar to the examples) is more likely to find a solution than the colored ICP. Is this normal? I thought that colored ICP is the best solution for colored point clouds.