Iterative Closest Point,
presented by M.T. Hajiaghayi
Methods for computing closet point from a given
point to various geometrics
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To another point (closed form)
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To a line segment (closed form)
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To a triangle (closed form)
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From one point to complicated geometrics, e.g. parametric
space curve or surface:
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Using Newton's minimization approach for function
where our surface is 
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