Outlier Robust ICP for Minimizing Fractional RMSD

Jeff M. Phillips Ran Liu Carlo Tomasi Outlier Robust ICP for Minimizing Fractional RMSD http://arxiv.org/abs/cs/0606098 2006 CoRR abs/cs/0606098 db/journals/corr/corr0606.html#abs-cs-0606098 informal publication