Least-Squares Fitting of Two 3-D Point Sets

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  • 创建日期 2019年8月14日
  • 最后更新 2019年8月14日

Least-Squares Fitting of Two 3-D Point Sets

-Two point sets { pi } and { p' }; i = 1, 2,9 , N are related by p' = Rpi + T + Ni, where R is a rotation matrix, T a translation vector, and Ni a noise vector. Given { pi } and { p' }, we present
an algorithm for finding the least-squares solution of R and T, which
is based on the singular value decomposition (SVD) of a 3 x 3 matrix.
This new algorithm is compared to two earlier algorithms with respect
to computer time requirements.

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