@article{CHFMJ_2017_2_3_a2,
     author = {A. Yu. Makovetskii and S. M. Voronin and D. V. Tihonkih and M. N. Alekseev},
     title = {Closed form solution of {ICP} error minimization problem for affine transformations},
     journal = {\v{C}el\^abinskij fiziko-matemati\v{c}eskij \v{z}urnal},
     pages = {282--294},
     publisher = {mathdoc},
     volume = {2},
     number = {3},
     year = {2017},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/CHFMJ_2017_2_3_a2/}
}