Simultaneous registration of multiple point sets using orthonormal matrices

We present a novel solution to the problem of simultaneously registering multiple corresponding point sets with rigid transformations. The proposed technique involves the pre-computation of a constant matrix which completely encodes the registration problem, followed by an iterative procedure to estimate the optimal rotations. From the estimated rotations, the optimal translations are then computed directly. Experimental results on both synthetic and real data demonstrate the algorithm's performance in terms of accuracy and efficiency.