By Topic

First order error propagation of the Procrustes method for 3D attitude estimation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
L. Dorst ; Intelligent Syst. Lab., Amsterdam Univ., Netherlands

The well-known Procrustes method determines the optimal rigid body motion that registers two point clouds by minimizing the square distances of the residuals. In this paper, we perform the first order error analysis of this method for the 3D case, fully specifying how directional noise in the point clouds affects the estimated parameters of the rigid body motion. These results are much more specific than the error bounds which have been established in numerical analysis. We provide an intuitive understanding of the outcome to facilitate direct use in applications.

Published in:

IEEE Transactions on Pattern Analysis and Machine Intelligence  (Volume:27 ,  Issue: 2 )