@article{iretamunoz:hal-02061500, TITLE = {{Point-to-hyperplane ICP: fusing different metric measurements for pose estimation}}, AUTHOR = {Ireta Munoz, Fernando I and Comport, Andrew I.}, URL = {https://hal.science/hal-02061500}, JOURNAL = {{Advanced Robotics}}, PUBLISHER = {{Taylor \& Francis}}, VOLUME = {32}, NUMBER = {4}, PAGES = {161-175}, YEAR = {2018}, DOI = {10.1080/01691864.2018.1434013}, KEYWORDS = {RGB-D Pose estimation ; Visual Odometry ; Point-to-hyperplane ; Visual SLAM}, PDF = {https://hal.science/hal-02061500/file/Advanced_Robotics_Journal_2017.pdf}, HAL_ID = {hal-02061500}, HAL_VERSION = {v1}, }