School;
of;
Mechanical;
Engineering,;
Shanghai;
Jiao;
Tong;
University,;
Shanghai;
200030,;
China;
School;
of;
Mechanical;
Engineering,;
Shanghai;
Jiao;
Tong;
University,;
Shanghai;
200030,;
China;
surface; fitting,; least-squares,; rigid; body; motion,; deformation,; distance; function,; optimization.;