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(a) A typical 3D spatial reference data set. (b) The reference data in red alongside the test data in blue, with blue lines representing the Euclidean distances connecting each test data point with its corresponding reference point. (c) The partial alignment at s = 0.75. (d) The optimal alignment for this data set at s = 1.0. The yellow arrow is the axis of rotation specified by the optimal quaternion’s spatial components.
