| 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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| 14 |