Vision Computing, 1992. 10: 145-155. 　　[5] R. Bergevin, M Soucy, H. Gagnon, et al. Towards a general multi-view registration technique[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1996. 18(5): 540-547. 　　[6] Andrew Edie Johnson, Sing Bing Kang. Registration and Integration of Textured 3D Data[J]. Image and Vision Computing, 1999. 17: 135-147. 　　[7] Natasha Gelfand, Leslie Ikemoto, Szymon Rusinkiewicz, et al. Geometrically Stable Sampling for the ICP Algorithm[A]//. Proceedings of Fourth International Conference on 3-D Digital Imaging and Modeling[C]. Stanford University, CA, USA, 2003: 260-267. 　　[8] 郑德华. ICP算法及其在建筑物扫描点云数据配准中的应用[J]. 测绘科学, 2007. 32(2). 　　[9] P.J. Besl, H.D. McKay. A Method for Registration of 3D Shape[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1992. 14(2): 239-256.