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The need to register data is abundant in applications such as: world modeling, part inspection and manufacturing, object recognition, pose estimation, robotic navigation, and reverse engineering. Registration occurs by aligning the regions that are common to multiple images. The largest difficulty in performing this registration is dealing with outliers and local minima while remaining efficient. A commonly used technique, iterative closest point, is efficient but is unable to deal withdoi:10.1109/robot.2000.845314 dblp:conf/icra/LuckLH00 fatcat:3dylfhijmvc3pjd3qnam2ilc2a