[Insight-users] Estimation of rotation scales

[Sam Theisens]

Hi,

does anybody know of a way to estimate good rotation scales from the data?
Currently I am trying to register point clouds using the standard ICP
algorithm. I estimate the rotation scales from the maximal displacement that
a rotation around each of the axes can account for. This gives me upper
bounds to the translation to rotation ratio, sort of. 
Is this a good way to do this, or are there better ways?
Thanks in advance for any ideas.

Sam Theisens