The question is converted to the answers of conditions of goal function extremum.It educes SVD and quaternion and I take the method of quaternion in the paper.

• 其次研究了ICCP匹配算法的数学机理，将问题转化为对目标函数极值条件的求解，引出了奇值分解法和四元数法，论文中采用了四元数法。