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.
Method for registration of 3-d shapes
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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.