"Matt J" wrote in message <email@example.com>... > > > Now, i want to find all Ci of Rotation matrices Ri as well all elements of translation vectors Ti. What should i do to obtain local minimum value of this function ? > =============== > > The problem has a closed form solution, so iterative minimization is unnecessary. Here is one implementation > > http://www.mathworks.com/matlabcentral/fileexchange/26186-absolute-orientation-horns-method
I assume you don't really mean that you're applying a different rotation matrix Ri and translation vector Ti to each point. That wouldn't make sense. A translation is sufficient to make 2 points coincide and is given simply by Ti=Ui-Vi. Adding rotation component would just create infinite non-unique solutions.