Bibtex reference:

@article{pomerleau:2013,
year={2013},
issn={0929-5593},
journal={Autonomous Robots},
doi={10.1007/s10514-013-9327-2},
title={{Comparing ICP variants on real-world data sets}},
url={http://dx.doi.org/10.1007/s10514-013-9327-2},
publisher={Springer US},
keywords={Experimental protocol; Iterative closest point; Registration; Open-source; SLAM; Mapping},
author={Pomerleau, François and Colas, Francis and Siegwart, Roland and Magnenat, Stéphane},
volume={34},
number={3},
pages={133-148},
language={English}
}