A method for registration of 3D shapes. Besl, P. & McKay, N. IEEE Transactions on Pattern Analysis and Machine Intelligence, 14(2):239-256, IEEE Computer Society, Washington, DC, USA, February, 1992.
bibtex   
@Article{Besl_1992_4685,
  author = {Besl, P.J. and McKay, N.D.},
 address = {Washington, DC, USA},
 journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
 month = {February},
 number = {2},
 pages = {239-256},
 publisher = {IEEE Computer Society},
 title = {A method for registration of 3{D} shapes},
 volume = {14},
 year = {1992},
 issn = {0162-8828},
 title_with_no_special_chars = {A method for registration of 3D shapes}
}
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