... at: bernardo.lourenco@ua.pt 27 09 2019 20 01 2020 01 04 2020 14 04 2020 Optimization Calibration Reconstruction Registration Point cloud LRF Laser rangefinder, or LRFs, are among the most used sensors in the field of robotics. Owing to their precision, they are often used...

.... (1988) and by the quaternion representations in Horn (1987) . In these publications, scaling, translation and rotation required for registration are clearly explained. Simplifications when the scaling term is not needed, and the data set has some spatial features such as co-planarity are also valuable...

... in the operating room is obtained by processing ultrasound (USA) and computer tomography (CT) images, obtained, respectively, in the intra-operative and pre-operative scenarios. During surgery, the bone position and orientation is obtained by registration of USA and CT three-dimensional (3D) point clouds, using...