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VMÈ
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3D points with model error
Transformed 3D points with model error
3D Rigid Body Transformation
Viewing Transformation Projection, Sensing Error (Orthographic or Central Projection)
Model
2D points with model and sensing error
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à The set of translations that align the model point with the image point to within the error bound Model Point
ß
2 Image/Model Space (R )
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Image IR
Model
2
IR
2
Transformation Space IR
4 ~ C
u
~ d r
d T b
T
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B
i5i
Translations
D
C
Y−component of rotation
X−component of rotation
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E
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1
F
5
4 3
Transformation 5
4
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