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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