Input: x, y and (πx, μx, σx).

Output: R, t.

1: Initialize n, R, t and (πy, μy, σy) as 0, I and (πx, μx, σx).

2: Compute membership probability $m_{j,k}^{n+1}$ using (3) and (6).

3: Compute updated target bundle parameters $({\mathit{\mu }}_{\mathbf{y}}^{n+1},{\mathit{\sigma }}_{\mathbf{y}}^{n+1})$ using (8) and (13).

4: Compute unit quaternion q using sub-algorithm 1.

5: Compute updated rotation Rn+1 using (15).

6: Compute updated rotation tn+1 using (16).

7: If n < 7, go to step 2 and n = n + 1; otherwise stop and return Rn+1, tn+1.