I have two trajectories of a moving object. Each trajectory is composed of poses at discrete time. Each pose is a translation vector and a rotation matrix.Each trajectory defines the same path (with noise) but expressed in some arbitrary frame of reference. I need to find the relative transformation that aligns both trajectories.This is the absolute orientation problem that can be solved with Horn's method for a collection of points in the 3D space. So, I can solve this by taking into account just the translation vectors of the poses. However, I'd like to include the rotations as well.Does this new problem have a name? Is there any known technique to solve it?
Absolute orientation alignment with vectors
algorithms;reference request