Report - Outlier Robust ICP Minimizing Fractional RMSD - …jeffp/papers/FICP-SGP06.pdf · TrICP 3 0.87 5 16 FICP 3 0.952 0.945 0.909 0.875 FICP 1.3 0.857 0.473 0.141 0.060 rotation D M FRM

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