The 3 - d exact maximum likelihood registration algorithm ( eml ) incorporates the effects of measurement noise . the registration estimates are obtained by the maximum likelihood function of the sensors measurement . the simulation results indicate that the estimates of registration errors have better consistency and stability 三維精確極大似然法( eml )考慮了量測噪聲的影響,配準估計是通過求最大似然函數(shù)獲得的;仿真結(jié)果表明:配準誤差具有很好的穩(wěn)定性和一致性。