# Estimating 3-D rigid body transformations: a comparison of four major algorithms

@article{Eggert1997Estimating3R, title={Estimating 3-D rigid body transformations: a comparison of four major algorithms }, author={David W. Eggert and Adele Lorusso and Robert B. Fisher}, journal={Machine Vision and Applications}, year={1997}, volume={9}, pages={272-290} }

Abstract.A common need in machine vision is to compute the 3-D rigid body transformation that aligns two sets of points for which correspondence is known. A comparative analysis is presented here of four popular and efficient algorithms, each of which computes the translational and rotational components of the transform in closed form, as the solution to a least squares formulation of the problem. They differ in terms of the transformation representation used and the mathematical derivation of…

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