  3D registration has always been performed invoking singular value
decomposition (SVD) or eigenvalue decomposition (EIG) in real engineering
practices. However, these numerical algorithms suffer from uncertainty of
convergence in many cases. A novel fast symbolic solution is proposed in this
paper by following our recent publication in this journal. The equivalence
analysis shows that our previous solver can be converted to deal with the 3D
registration problem. Rather, the computation procedure is studied for further
simplification of computing without complex-number support. Experimental
results show that the proposed solver does not loose accuracy and robustness
but improves the execution speed to a large extent by almost %50 to %80, on
both personal computer and embedded processor.
