[foooobaba]

This is cool, I briefly read through the paper, one thing I’m curious of is how hard it would be to add ability to do scale transformation (eg zoom in/zoom out) in addition to translation and rotational transformations. Would it be as simple as just adding a scale factor to the optimization objective and rework a bit of the math?

[nighthawk454]

I think you're looking for the Procrustes transform, which uses SVD to optimize a minimal transform for rotation, translation, _and_ scale.

https://en.wikipedia.org/wiki/Orthogonal_Procrustes_problem

[foooobaba]

Wow, yes this looks like it will do the job!

[chpatrick]

https://web.stanford.edu/class/cs273/refs/umeyama.pdf