Geometric Transformation Fitting
Problem Definition Given the following equation and an arbitrary number of point correspondence determine scale, rotation, and translation. (1) Introduction Imagine you are sitting at home doing a bit of programming. Suddenly a rogue mathematician kicks in your door, and presents you with two sets of point data (spanning millions of points), demanding that you find a sufficient relative transformation between them. He assures you that: The points are linearly independent. You will have beforehand the correspondence of points…