Aligning 3D Data

• If correct correspondences are known, it is possible to find correct relative rotation/translation

 Next
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

How to find corresponding points?

• Previous systems based on user input, feature matching, etc.
• Alternative: assume closest points corresponds to each other, compute the best transformation

• ...and iterate to find  the alignment (the ideas come from Besl & McKay 92)
• Converges if starting positions are close enough