Abstract-Two point sets { pi } and { p' }; i = 1, 2,9 , N are related by p' = Rpi + T + Ni, where R is a rotation matrix, T a translation vector, and Ni a noise vector. Given { pi } and { p' }, we present an algorithm for finding the least-squares solution of R and T, which is based on the singular value decomposition (SVD) of a 3 x 3 matrix. This new algorithm is compared to two earlier algorithms with respect to computer time requirements.

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