We address the problem of estimating a rigid transformation between two point sets, which is a key module for target tracking system using Light Detection And Ranging (LiDAR). A fast implementation of Expectation-maximization (EM) algorithm is presented whose complexity is O(N) with N the number of scan points.
@article{arxiv.1204.0067,
title = {Estimating Rigid Transformation Between Two Range Maps Using Expectation Maximization Algorithm},
author = {Shuqing Zeng},
journal= {arXiv preprint arXiv:1204.0067},
year = {2012}
}