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Optimal R matrix in ICP SVD #51

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kfeng19 opened this issue Nov 10, 2021 · 0 comments
Open

Optimal R matrix in ICP SVD #51

kfeng19 opened this issue Nov 10, 2021 · 0 comments

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@kfeng19
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kfeng19 commented Nov 10, 2021 •
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slambook-en/chapters/vo1.tex

Line 1547 in c5b5528

\mathbf{R} = \mathbf{U} \mathbf{V}^T.

According to Arun et al. 1987 (Eq. 13), the optimal R seems to be given by VU^T instead of UV^T.
However the code seems to produce consistent result with nonlinear method, which is peculiar.
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