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Unformatted text preview: eeply discussed by means of different sets of data (§3). 2. PROPOSED ALGORITHM 2.1. Generic approach The mathematical basis of our works have been explained in two previous works [Carrino et al, 2002 and 2004], in this paper we put our attention about the specific variation related to the studied case. The extracted integral feature is represented by a finite set of points, that is expressed by the (1) ⎧ m i = mxi , myi , mzi ,1 T ⎫ ⎪ ⎪ (1) WM = ⎨ ⎬, : mxi , myi , mzi ∈ ℜ , i = 1...M ⎪ ⎪ ⎩ ⎭ [ By applying a homogeneous coordinate transformation T(t) the extracted integral feature is roto-translated so that the measured points minimize their distance from the reference element. In this paper, the Roll-Pich-Yaw angles are used to describe the spatial rotation and translation, so the transformation matrix can be described as: ⎡CϕCθ CϕSθSψ − SϕCψ CϕSθCψ + SϕSψ tx ⎤ ⎢ SϕCθ SϕSθSψ + CϕCψ SϕSθCψγ − CϕSψ t ⎥ y ⎥. T( t ) = ⎢ (2) ⎢ − Sθ CθSψ CθCψ tz...
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