svd原理
https://www.cnblogs.com/pinard/p/6251584.html
最小二乘法
https://baike.baidu.com/item/%E6%9C%80%E5%B0%8F%E4%BA%8C%E4%B9%98%E6%B3%95/2522346?fr=aladdin
求解icp
https://blog.csdn.net/zhouyelihua/article/details/77807541
svd原理
https://www.cnblogs.com/pinard/p/6251584.html
最小二乘法
https://baike.baidu.com/item/%E6%9C%80%E5%B0%8F%E4%BA%8C%E4%B9%98%E6%B3%95/2522346?fr=aladdin
求解icp
https://blog.csdn.net/zhouyelihua/article/details/77807541