深入研究了经典ICP算法的工作原理，分析了ICP算法的优点和局限性，进而提出了基于角特征不变量的配准算法。

The working mechanism of classical ICP algorithm is deeply studied, and its advantages and limits are analyzed. Registration based on angular-invariant is then proposed.

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在高维增广相空间中研究广义经典力学系统的精确不变量和绝热不变量 。

The integral invariant construction of holonomic nonconservative dynamical systems in the high-dimensional extended phase space;

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