The estimation of rigid motion parameters has been investigated using Fourier transform and iterative techniques for over two decades. But the numerical efficiency remains a challenge. Especially for 3D case, there is no any analytical algorithm. In this work, we propose to use the moment covariance matrix to estimate the orthogonal transform (i.e., rigid motion in real world). This algorithm does not depend on the dimension of problem and is an analytical method. The numerical implementation is easy and efficient. The test results show that the proposed algorithm is accurate and well tolerent to noise variation.
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