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 三维精确极大似然法( eml )考虑了量测噪声的影响，配准估计是通过求最大似然函数获得的；仿真结果表明：配准误差具有很好的稳定性和一致性。
