Document Detail

Least-squares fitting of two 3-d point sets.
MedLine Citation:
PMID:  21869429     Owner:  NLM     Status:  In-Data-Review    
Two point sets {pi} and {p'i}; i = 1, 2,..., N are related by p'i = Rpi + T + Ni, where R is a rotation matrix, T a translation vector, and Ni a noise vector. Given {pi} and {p'i}, 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 × 3 matrix. This new algorithm is compared to two earlier algorithms with respect to computer time requirements.
K S Arun; T S Huang; S D Blostein
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Publication Detail:
Type:  Journal Article    
Journal Detail:
Title:  IEEE transactions on pattern analysis and machine intelligence     Volume:  9     ISSN:  0162-8828     ISO Abbreviation:  IEEE Trans Pattern Anal Mach Intell     Publication Date:  1987 May 
Date Detail:
Created Date:  2011-08-26     Completed Date:  -     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  9885960     Medline TA:  IEEE Trans Pattern Anal Mach Intell     Country:  United States    
Other Details:
Languages:  eng     Pagination:  698-700     Citation Subset:  -    
Coordinated Science Laboratory, University of Illinois, Urbana, IL 61801.
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