A New Closed-Form Solution for Absolute Orientation

Wang, Zhengyan; Jepson, Allan D.

doi:10.1109/CVPR.1994.323819

A New Closed-Form Solution for Absolute Orientation

Zhengyan Wang, Allan D. Jepson

CVPR 1994 pp. 129-134

doi:10.1109/CVPR.1994.323819 /cvpr/1994/wang1994cvpr-new/

Abstract

Presents a closed-form solution for the determination of 3D displacement and rotation parameters, given a set of 3D point correspondences. The method applies to the general case of arbitrary displacement and rotation with respect to an arbitrary stationary scene. The approach is based on the linear subspace method, which allows separate linear equations to be extracted for the displacement and rotation. This leads to a simple algorithm, suitable for real-time implementations, for the determination of both the 3D transformation and error estimates for the estimated 3D displacement. Preliminary experimental results with range data are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>

CVPR Semantic Scholar

Cite

Text

Wang and Jepson. "A New Closed-Form Solution for Absolute Orientation." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1994. doi:10.1109/CVPR.1994.323819

Markdown

[Wang and Jepson. "A New Closed-Form Solution for Absolute Orientation." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1994.](https://mlanthology.org/cvpr/1994/wang1994cvpr-new/) doi:10.1109/CVPR.1994.323819

BibTeX

@inproceedings{wang1994cvpr-new,
  title     = {{A New Closed-Form Solution for Absolute Orientation}},
  author    = {Wang, Zhengyan and Jepson, Allan D.},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {1994},
  pages     = {129-134},
  doi       = {10.1109/CVPR.1994.323819},
  url       = {https://mlanthology.org/cvpr/1994/wang1994cvpr-new/}
}