Riemannian Computing in Computer Vision by Pavan K. Turaga & Anuj Srivastava

Author:Pavan K. Turaga & Anuj Srivastava
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

9.2.2 Partial Covariance Weighted OPA

Definition 9.1.

The method of partial covariance weighted ordinary Procrustes analysis (partial CW OPA) involves the least squares matching of one configuration to another using rigid-body transformations. Estimation of the translation and rotation parameters, γ and Γ, is carried out by minimising the Mahalanobis norm

(9.1)

where (km × km) is a symmetric positive definite matrix, γ is an m × 1 location vector and Γ is an m × m special orthogonal rotation matrix, and

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