Beruflich Dokumente
Kultur Dokumente
AWM
1 Problem definition
Let X1 . . . Xn and Y1 . . . Yn two sets of points. Let
T : R2 −→ R2
T (x) = ρ · Rφ x + τ
be a rigid transformation, where ρ > 0 and
cos φ − sin φ
Rφ =
sin φ cos φ
c2 + s2 = 1
2 Gradient computation
X
∇E = < ∇T (X), T (X) − Y >
X
∂ρ E = < RX , ρRX − Y >
X X X
= ρ· |X|2 − c · < X, Y > −s · < Rπ/2 X, Y > (3)
1
X
∂c E = < ρX , ρRX − Y >
X X
= ρ2 c · |X|2 − ρ · < X, Y > (4)
X
∂s E = < ρRπ/2 X , ρRX − Y >
X X
= ρ2 s · |X|2 − ρ · < Rπ/2 X, Y > (5)
Let us denote
X
α = |X|2
X
β = < X, Y >
X
γ = < Rπ/2 X, Y > (6)
αρ − βc − γs = 0
2
αρ c − ρβ = 0
αρ2 s − ργ = 0
Solving for c and s from 2-nd and 3-rd equation and substituting in the first, we get
β2 γ2
αρ = +
αρ αρ
so
p
β2 + γ2
ρ = (7)
α
β
c = p (8)
β2 + γ2
γ
s = p (9)
β2 + γ2
2
Figure 1: Blue: the X points. Red: the Y points. Green: T(X).