Optimal R matrix in ICP SVD

[kfeng19]

slambook-en/chapters/vo1.tex

Line 1547 in c5b5528

\mathbf{R} = \mathbf{U} \mathbf{V}^T.

According to Arun et al. 1987 (Eq. 13), the optimal R seems to be given by VU^T instead of UV^T.
However the code seems to produce consistent result with nonlinear method, which is peculiar.