The Kabsch-Nadas formula solves in closed form the orthogonal least square problem (aka orthogonal procrustes). At the heart of the iterative closest point method for registration. https://en.wikipedia.org/wiki/Orthogonal_Procrustes_problem … https://en.wikipedia.org/wiki/Kabsch_algorithm …pic.twitter.com/JsE59DinSb
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Super. It's surprising that there's a closed form solution to this problem. (Also, this is [surprisingly] directly related to a research side project of mine in quantum information!)
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