rigidtform

Optimal rotation and translation between corresponding points

Efficiently solves for the optimal rotation and translation between two sets of corresponding points in N dimensions. The solution minimizes the root mean squared deviation between the two sets of points. This is a generalization to N dimensions of the Kabsch algorithm (https://en.wikipedia.org/wiki/Kabsch_algorithm) using singular value decomposition (SVD). The technique is described for three dimensions here: http://nghiaho.com/?page_id=671