Global registration of multiple 3D point sets via optimization on a manifold. Krishnan, S., Lee, P. Y., Moore, J. B., & Venkatasubramanian, S. . U.S. Patent 8,538,138
bibtex   
@patent{riemann,
  author = {Shankar Krishnan and Pei Yean Lee and John Barrett Moore and Suresh Venkatasubramanian},
  title = {Global registration of multiple 3D point sets via optimization on a manifold},
  note = {U.S. Patent 8,538,138}
}
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