Rigid object pose estimation - avoid scaling solutions ?

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Rigid object pose estimation - avoid scaling solutions ?

Doug Epps
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Hi,

I've got what should be a pretty simple pose estimation case that's going off the rails.

I've got a point cloud that, when rotated 90 degrees matches another.  

I'm trying to solve for that rotation.

Unfortunately, it's also a match if you scale by (1,1,-1) (negative -Z).

Which is what the SVD estimation seems to want to give me.

Is there a pose estimation that can solve without changing scale at all ?

I'm blindly poking at various TransformationEstimations, but so far the only thing that converges is one that gives me a 3x3 matrix with the negative scale in it.

any pointers welcome.

-doug