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    Visual odometry using RGB-D camera on ceiling vision by Wang, Han, Mou, Wei, Suratno, Hendra, Seet Gim Lee, Gerald, Li, Maohai, Lau, Michael Wai Shing, Wang, Danwei

    Published 2013
    “…Hence, we can use ICP to fine-tune the transformation parameters and to minimize registration error. …”
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    Conference Paper