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Controlled 3D Data Fusion using Error-bounds:

Boström, Gunnar ; Gonçalves, João G.M. ; Sequeira, Vítor
ISPRS Journal of Photogrammetry and Remote Sensing.  63 (2008)  1 - p. 55-67 , 2008
Link: https://doi.org/10.1016/j.isprsjprs.2007.07.011