The aim of this algorithm is to obtain the mean shape of an object based on several observations. Since all the observations are in different configurations, we have to register them together before computing a model. However, the only way to avoid having one object as the reference is to register all the objects to the model. We end up with the following algorithm:
This very simple algorithm is very fast (convergence in 5 iterations in our experiments) and the results do not depend on the initial chosen reference.
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