Regular ArticleRegistration of Multiple Acoustic Range Views for Underwater Scene Reconstruction
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2005, Signal Processing: Image CommunicationCitation Excerpt :However, modifications to the original ICP are now widely used to achieve accurate registration even with fairly general starting positions [31]. We adopted an approach similar to the one proposed by Zhang [38], using a modified cost function based on robust statistics to limit the maximum distance between closest points [7]. As pointed out by Zhang [38], the distribution of the residuals for two fully overlapping sets approximates a Gaussian, when the registration is good.
Least squares 3D surface and curve matching
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