This paper presented a matching and estimation algorithm for 3-D rigid body motions, integrating the procedures of the point match and motion estimation into a global optimization process. It solves the problems of matching, segmenting and estimating in the 3-D motions, extends the idea of first-match-then-estimate, and is suitable for real-time processing. A large number of experimental results
... [Show full abstract] have been described to demonstrate the efficiency of the algorithm.