HI Debbie,
Yes, this is another possibility. The ICP approach is simple and very flexible. The main difference to the approach in Tutorial 12 is, that ICP does not need gradients to be calculated. This is, on one hand, an advantage, as it allows one to add constraints to improve the registration process. On the other hand, the gradient based approach does require less tuning to achieve good results.
Maybe you should just experiment with both and see which one gives better result for the particular shape that you would like to register.
Best regards,
Marcel