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Closed-form solution of absolute orientation using orthonormal matrices

1988
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Optical Society of America. Journal A: Optics, Image Science, and Vision
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Finding the relationship between two coordinate systems by using pairs of measurements of the coordinates of a number of points in both systems is a classic photogrammetric task. The solution has applications in stereophotogrammetry and in robotics. We present here a closed-form solution to the least-squares problem for three or more points. Currently, various empirical, graphical, and numerical iterative methods are in use. Derivation of a closedform solution can be simplified by using unit

doi:10.1364/josaa.5.001127
fatcat:ht2bgjssgzdthpo5aomzb3z72e