A Gaussian-weighted ICP variant is claimed to align point clouds under full-range rotations and non-Gaussian noise, yet the convergence proof is unproven and several reported error statistics violate basic inequalities.
Correntropy Based Scale ICP Algorithm for Robust Point Set Registration,
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Registration of 3D Point Sets Using Exponential-based Similarity Matrix
A Gaussian-weighted ICP variant is claimed to align point clouds under full-range rotations and non-Gaussian noise, yet the convergence proof is unproven and several reported error statistics violate basic inequalities.