Least-squares solution of absolute orientation with non-scalar weights

    Research output: Chapter in Book/Report/Conference proceedingConference contribution


    The absolute orientation problem involves finding the Euclidean transformation which minimises the sum of the squared errors between two pointsets. In the standard form of the problem a confidence may be attached to each of the errors via a set of positive scalar weights. In this paper we consider a generalisation of the standard problem in which the components of the error vectors are coupled via a set of weight matrices. We show how problems of this type arise and derive two distinct forms of the problem. We present a closed-form solution to the first form of the 3-D problem and iterative solutions to the second form of the 2-D problem and both forms of the 3-D problem. © 1996 IEEE.
    Original languageEnglish
    Title of host publicationProceedings - International Conference on Pattern Recognition|Proc. Int. Conf. Pattern Recognit.
    Number of pages4
    ISBN (Print)081867282X, 9780818672828
    Publication statusPublished - 1996
    Event13th International Conference on Pattern Recognition, ICPR 1996 - Vienna
    Duration: 1 Jul 1996 → …


    Conference13th International Conference on Pattern Recognition, ICPR 1996
    Period1/07/96 → …
    Internet address


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