| Global
alignment |
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| Least-squares
solution of |
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| min
|Rjpij
- Rkpik|2 or
Rjpij
- Rkpik
= 0 |
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| 1. | Use the
linearized update |
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| (I+[ωj])Rjpij
- (I+[ωk]) Rkpik
= 0 |
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| or |
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| [qij]ωj- [qik]ωk = qij-qik, qij=
Rjpij |
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| 2. | Estimate
least square solution over {ωi} |
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| 3. | Iterate
a few times (updating the {Ri}) |
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