3D Multi-Layered Normal Distribution Transform for Fast and Long Range Scan Matching

A method for registration of 3-D shapes

Paul J. Besl, Neil David McKay · IEEE Transactions on Pattern Analysis and Machine Intelligence · 1992 · 18K citations

Computing, Computer Science, Computational Geometry +16

Efficient variants of the ICP algorithm

Szymon Rusinkiewicz, Marc Levoy · 2002 · 3.7K citations

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The normal distributions transform: a new approach to laser scan matching

Peter Biber · 2004 · 1.5K citations

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Generalized-ICP

A. Segal, D. Haehnel, Sebastian Thrun · 2009 · 1.4K citations · Full text

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Globally Consistent Range Scan Alignment for Environment Mapping

Feng Lu, Evangelos Milios · Autonomous Robots · 1997 · 1.3K citations

Computing, Geoinformatics, Geodesy +11