Source: https://www.researchgate.net/profile/Francois-Goulette/publication/275343927_Recalage_rigide_de_releves_laser_par_mise_en_correspondance_robuste_basee_sur_des_segments/links/569f89c808aee4d26ad265f8/Recalage-rigide-de-releves-laser-par-mise-en-correspondance-robuste-basee-sur-des-segments.pdf