diff --git a/CHANGELOG.md b/CHANGELOG.md
index 022c41d17fb..1cb9bed658f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -44,6 +44,7 @@
 -   Split pybind declarations/definitions to avoid C++ types in Python docs (PR #6869)
 -   Fix minimal oriented bounding box of MeshBase derived classes and add new unit tests (PR #6898)
 -   Fix projection of point cloud to Depth/RGBD image if no position attribute is provided (PR #6880)
+-   Unified cloud initializer pipeline for ICP (fixes segfault colored ICP) (PR #6942)
 
 ## 0.13