•Given point sets X and
U, compare by finding similarity transformation
A that minimizes ||AX-U||.
–X = points X1,
…Xn. U = points U1…Un.
–Find A to minimize sum
||AXi – Ui||^2
–This is just a
straightforward, linear problem.
•Taking derivatives
with respect to four unknowns of A gives four
linear equations in four unknowns.