Vittorio Murino Lucca Ronchetti Umberto Castellani Andrea Fusiello Reconstruction of Complex Environments by Robust Pre-aligned ICP. 187-194 2001 conf/3dim/2001 3DIM http://doi.ieeecomputersociety.org/10.1109/IM.2001.924432 db/conf/3dim/3dim2001.html#MurinoRCF01