Pairwise alignment Given two sets of matching points, compute R
{"Image DocumentName": "Pairwise alignment Given two sets of matching points, compute R", "Image ImageDescription": "Procrustes Algorithm [Golub & VanLoan] Given two sets of matching points, compute R. pi\u2019 = R pi with 3D rays. pi = N(xi,yi,zi) = N(ui-uc,vi-vc,f) A = \u03a3i pi pi\u2019T = \u03a3i pi piT RT = U S VT = (U S UT) RT. VT = UT RT. R = V UT.", "Image XResolution": "37", "Image YResolution": "37", "Image ResolutionUnit": "Pixels/Centimeter", "Image Software": "SlidePlayer", "Image YCbCrPositioning": "Centered"}