1 Derivation of Point-to-Plane Minimization Consider the Chen-Medioni (point-to-plane) framework for ICP. Assume we have a collection of points (pi , qi ) with normals ni . We want to determine the optimal rotation and translation to be

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• Abstract algebra
• Eigenvalues and eigenvectors
• Linear algebra
• Singular value decomposition
• Algebra
• Mathematics
• Matrix theory