- Iterative closest point: https://en.wikipedia.org/wiki/Iterative_closest_point
- Theory: https://www.youtube.com/watch?v=LETPf6eoyYg
- Canonical scan matcher: https://censi.science/software/csm/
- Feature detectors: http://vision.stanford.edu/teaching/cs131_fall1819/files/06_ransac.pdf
- Matlab (match lidar scans): https://in.mathworks.com/help/nav/ref/matchscans.html
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