OLAE-ICP integrates point, line, and plane observations into Wahba solvers for SE(3) alignment, using OLAE for linear efficiency, sequential rotations for singularities, and scale checks for outlier rejection.
Closed-form solution of absolute orientation using unit quaternions
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OLAE-ICP: Robust and fast alignment of geometric features with the optimal linear attitude estimator
OLAE-ICP integrates point, line, and plane observations into Wahba solvers for SE(3) alignment, using OLAE for linear efficiency, sequential rotations for singularities, and scale checks for outlier rejection.