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Subject: Re: 3D rotation estimate via least squares



On Wed, 10 May 2006 14:28:14 +0000, Dave Eberly wrote:
>
> Using quaternions is probably a bit simpler.

Speaking of simpler, I had an alternative suggestion that involves a
trivial rearrangement of terms to produce something that ostensibly looks
amenable to solution via an SVD:

http://www.cyd.liu.se/~anddo052/temp/cameras.htm

On first inspection, it looks OK to me (however I suspect the transpose
in the last eqn should be an inverse).

Jason.

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