Finding optimal rotation and translation between corresponding 3D points | Nghia HoFinding the optimal/best rotation and translation between two sets of corresponding 3D point data, so that they are aligned/registered, is a common problem I come across. An illustration of the problem is shown below for the simplest case of 3 corresponding points (the minimum required points to solve). The corresponding points have the same colour, R is the rotation and t is the translation. We
