@ARTICLE{huang2021on,
  author={Huaiyang Huang and Yuxiang Sun and Jin Wu and Jianhao Jiao and Xiangcheng Hu and Linwei Zheng and Lujia Wang and Ming Liu},
  journal={IEEE Robotics and Automation Letters}, 
  title={On Bundle Adjustment for Multiview Point Cloud Registration}, 
  year={2021},
  volume={6},
  number={4},
  pages={8269-8276},
  doi={10.1109/LRA.2021.3105686}}