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Presents a technique for finding a homogeneous transformation between a pair of range images while making use of both range and intensity information obtained using a laser range scanner. Application of the technique to help control a teleoperated nuclear waste remediation systems. Generalized registration problem; Results and conclusion.

Focuses on the theoretical description of the self-mixing effect in a laser diode when used on a three-dimensional laser range imaging system. Presentation of a survey of the existing literature; Experimental results.