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Topic: Non-linear optimization
Replies: 32   Last Post: Mar 8, 2013 2:22 AM

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Matt J

Posts: 4,996
Registered: 11/28/09
Re: Non-linear optimization
Posted: Mar 6, 2013 10:33 AM
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"Matt J" wrote in message <kh7ljt$oss$1@newscl01ah.mathworks.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.

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