A closed-form estimate of 3D ICP covariance. Manoj, P. S.; Liu, B.; Rui, Y.; and Lin, W. In MVA, pages 526-529, 2015. IEEE.
A closed-form estimate of 3D ICP covariance. [link]Link  A closed-form estimate of 3D ICP covariance. [link]Paper  bibtex   
@inproceedings{conf/mva/ManojLRL15,
  added-at = {2015-07-14T00:00:00.000+0200},
  author = {Manoj, Prakhya Sai and Liu, Bingbing and Rui, Yan and Lin, Weisi},
  biburl = {https://www.bibsonomy.org/bibtex/2ebb0a4effa8407fc31f77a2240a5991a/dblp},
  booktitle = {MVA},
  crossref = {conf/mva/2015},
  ee = {http://dx.doi.org/10.1109/MVA.2015.7153246},
  interhash = {37e36a1dae5b509f1b185c6096d8edb2},
  intrahash = {ebb0a4effa8407fc31f77a2240a5991a},
  isbn = {978-4-901122-15-3},
  keywords = {dblp},
  pages = {526-529},
  publisher = {IEEE},
  timestamp = {2015-07-15T11:35:16.000+0200},
  title = {A closed-form estimate of 3D ICP covariance.},
  url = {http://dblp.uni-trier.de/db/conf/mva/mva2015.html#ManojLRL15},
  year = 2015
}
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