A procedure for determining rigid body transformation parameters

Least-Squares Fitting of Two 3-D Point Sets

K.S. Arun, Thomas S. Huang, Steven D. Blostein · IEEE Transactions on Pattern Analysis and Machine Intelligence · 1987 · 3.9K citations

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Singular value decomposition and least squares solutions

Gene H. Golub, C. Reinsch · Numerische Mathematik · 1970 · 2.9K citations

Natural Sciences, Mathematics, Differential Equations +10

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Medicine, Orthopaedic Surgery, Orthopedic Surgery +14

Rigid body motion calculated from spatial co-ordinates of markers

C.W. Spoor, F.E. Veldpaus · Journal of Biomechanics · 1980 · 578 citations · Full text

Engineering, Robotics Engineering, Computational Geometry +13