斯坦福的一片文章 综述了迭代最近点算法的各种改进 客观地比较了他们优劣 提出了一个实时的高效组合 做点云配准必读-an artical from Stanforda. summarizes the variant of iterative closest point algorithm　and objectively compare the advantages and disadvantages, finily proposed combination with a high-speed real-time performance if you want to do the poind cloud registration , you absolument need it