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From: Bill Baxter <wbaxter@gm...>  20050430 23:47:15

Does anyone know an algorithm for determining the rigid body transformation= =20 that best fits the motion of a set of N points? I.e. given a set of initial points p0 p1 ... pN, and their locations after= =20 some motion, q0 q1 ... qN, I want to find the rigid body transformation T(x= )=20 (rotation and translation only) that minimizes: Sum[i=3D0...N] (  T(pi)  qi ^2 ) The only thing I can think of is to treat it as a generic nonlinear=20 optimization problem, but it just seems like there should be something more= =20 efficient than that. =20 Bill 