A Solution for the Registration of Multiple 3D Point Sets Using Unit Quaternions

Registering 3D point sets is a common problem in computer vision. The case of two point sets has been analytically well solved by several authors. In this paper we present an analytic solution for solving the problem of a simultaneous registration of M point sets, M>2, by rigid motions. The solution is based on the use of unit quaternions for the representation of the rotations.

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