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Apply ICP alignment between S ref, S i, then transform S refby the rigid transformation of ICP, the transformed sample is denoted by S i ′ ; 3.
Rigid registration is achieved by seeking the best rigid transformation parameters yielding the most similar CH-GMM responses.
The goal of this process is the computation of the optimal rigid transformation for the alignment of several sets of geometric entities (points and/or surfaces).
The corresponding segments in both states are then compared and investigated for quantifying the incurred discrepancy in the form of a rigid transformation.
Although the bounds are axis-aligned in each object's material frame, when testing two objects' AABB-rees against each other, bounds are rotated due to the relative rigid transformation between the two objects.
Rigid transformation including rotation and translation can be elegantly represented by a unit dual quaternion.
A rigid transformation can be derived by a set of corresponding features.
We point out that these two methods compute the rotation component of the rigid transformation.
Unit dual quaternion can be elegantly employed to describe the rigid transformation including rotation and translation.
The rigid transformation which contains translation and rotation provides global alignment of two images.
To estimate the rigid transformation, we decided to apply the Kabsch algorithm (see Section 2.2).
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