On the representation of rigid body transformations for accurate registration of free-form shapes

@article{Rodrigues2002OnTR,
  title={On the representation of rigid body transformations for accurate registration of free-form shapes},
  author={Marcos A. Rodrigues and Yonghuai Liu},
  journal={Robotics and Autonomous Systems},
  year={2002},
  volume={39},
  pages={37-52}
}
In this paper we consider representation issues of rigid body transformations based on geometric properties of reflected correspondence vectors. A sufficient and necessary representation of rigid body transformations is put forward followed by an accurate and robust algorithm for the registration of free-form surfaces. The algorithm makes full use of global rigid motion constraints derived from the representation of rigid body transformations and can effectively deal with occlusion, noise, and… CONTINUE READING

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