Convergent Iterative Closest-Point Algorithm to Accomodate Anisotropic and Inhomogenous Localization Error.
Lena Maier-HeinAlfred Michael FranzThiago R. dos SantosMirko SchmidtMarkus FangerauHans-Peter MeinzerJ. Michael FitzpatrickPublished in: IEEE Trans. Pattern Anal. Mach. Intell. (2012)