Point-to-hyperplane RGB-D pose estimation: Fusing photometric and geometric measurements. - Fernando I. Ireta Muñoz; Andrew I. Comport (IROS, 2016)

A proof that fusing measurements using Point-to-hyperplane registration is invariant to relative scale. - Fernando I. Ireta Muñoz; Andrew I. Comport (MFI, 2016)

Global Point-to-hyperplane ICP: Local and global pose estimation by fusing color and depth. - Fernando I. Ireta Muñoz; Andrew I. Comport (MFI, 2017)

Point-to-hyperplane ICP: fusing different metric measurements for pose estimation. - Fernando I. Ireta Muñoz; Andrew I. Comport (Adv. Robotics, 2018)