Fast Symbolic 3D Registration using MATLAB, proposed by Jin Wu, Ming Liu, Zebo Zhou and Rui Li in 2018
Related paper has been submitted to IEEE Transactions on Automation Science and Engineering. The preprint can be downloaded on https://arxiv.org/abs/1805.08703
r_base, b_base denote the point correspondences while weights describes the points' weighting. If the transformation is not equal to the result of SVD, try to swap r_base and b_base. This may be just the problem of rotation transpose.
