Normal distributions transform: Difference between revisions

Revision as of 21:34, 27 February 2022

Revision as of 05:06, 13 April 2022

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:<math>e^{-\frac{1}{2} \left(\mathbf{x} - \mathbf{q}\right)^\top \mathbf{S} \left(\mathbf{x} - \mathbf{q}\right)}</math> .

Two point clouds can be mapped by ana [[Euclidean transformation]] <math>f</math> with [[rotation matrix]] <math>\mathbf{R}</math> and translation vector <math>\mathbf{t}</math>

:<math>f_{\mathbf{R}, \mathbf{t}}(\mathbf{x}) = \mathbf{R} \mathbf{x} + \mathbf{t}</math>