Takeshi Oishi Ryusuke Sagawa Atsushi Nakazawa Ryo Kurazume Katsushi Ikeuchi Parallel Alignment of a Large Number of Range Images. 195-202 2003 conf/3dim/2003 3DIM http://doi.ieeecomputersociety.org/10.1109/IM.2003.1240250 db/conf/3dim/3dim2003.html#OishiSNKI03