Some References on Aligning 3-D Point Sets

From Olaf:

Umeyama, S. et al. ``Least-squares estimation of transformation parameters
between two point patterns" IEEE TRANSACTIONS ON PATTERN ANALYSIS AND
MACHINE INTELLIGENCE April 1991. vol.13, no.4, p. 376-80

From Szymon:

Quaternions:
Horn, B.
``Closed-Form Solution of Absolute Orientation Using Unit Quaternions,''
JOSA A, Vol. 4, No. 4, 1987.

Orthonormal Matrices:
Horn, B., Hilden, H., and Negahdaripour, S.
``Closed-Form Solution of Absolute Orientation Using Orthonormal Matrices,''
JOSA A, Vol. 5, No. 7, 1988.

SVD:
Arun, K., Huang, T., and Blostein, S.
``Least-Squares Fitting of Two 3-D Point Sets,''
Trans. PAMI, Vol. 9, No. 5, 1987.

Dual Quaternions:
Walker, M., Shao, L., and Volz, R.
``Estimating 3-D Location Parameters Using Dual Number Quaternions,''
CVGIP: Image Understanding, Vol. 54, No. 3, 1991.

Comparison of the above:
Eggert, D. W., Lorusso, A., and Fisher, R. B.
``Estimating 3-D Rigid Body Transformations: A Comparison of
Four Major Algorithms,''
MVA, Vol. 9, No. 5/6, 1997.

From Rachel: (first one is also listed above)

Horn, B.K.P., H. M. Hilden & S. Negahdaripour, ``Closed Form Solution of
Absolute Orientation using Orthonormal Matrices,'' Journal of the Optical
Society A Vol. 5, No. 7, pp. 1127--1135, July 1988.

Kabsch, W. (1976) A solution for the best rotation to relate two sets of
vectors. Acta Crystallogr. A32, 922-923

Kabsch, W. (1978). A discussion of the solution for the best rotation to
relate two sets of vectors. Acta Crystallogr. A45, 208-210

There are links to a couple of these at
http://graphics.stanford.edu/~smr/ICP/comparison/