@article{tabib2018manifold, title={On-manifold gmm registration}, author={Tabib, Wennie and O’Meadhra, Cormac and Michael, Nathan}, journal={IEEE Robotics and Automation Letters}, volume={3}, number={4}, pages={3805--3812}, year={2018}, doi={https://doi.org/10.1109/LRA.2018.2856279}, publisher={IEEE} }