Matching sets of 3D line segments with application to polygonal arc matching

In this paper, we consider two sets of corresponding 3D line segments of equal length. We derive a closed-form solution for the coordinate transform (rotation and translation) that gives the best match between the two sets; best in the sense of a least-squares distance measure between the sets. We use these results as the basis to construct efficient algorithms for solving other problems in computer vision. Specifically, we address the problem of matching polygonal arcs, that is, the problem of finding a match between a short arc and a piece of long arc