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Kabsch

The Kabsch Algorithm finds the optimal translation and rotation that minimizes the distance between two sets of matched points.

Orthonormalization

A rotation matrix is really just an orthonormal basis (a set of three orthogonal, unit vectors representing the x, y, and z bases of your rotation).

Line Fitting in 3D

Orthogonal Regression is the process of finding the line that best fits a set of points by minimizing their squared orthogonal distances to it.

Inverse Kinematics

Inverse Kinematics is the process of finding a set of joint angles that reach a goal position.