Closed-form solution of absolute orientation using unit quaternions-英文文献.pdf

Berthold K. P. Horn Vol. 4, No. 4/April 1987/J. Opt. Soc. Am. A 629 Closed-form solution of absolute orientation using unit quaternions Berthold K. P. Horn Department of Electrical Engineering, University of Hawaii at Manoa, Honolulu,Hawaii 96720 Received August 6, 1986; accepted November 25, 1986 Finding the relationship between two coordinate systems using pairs of measurements of the coordinates of a number of points in both systems is a classic photogrammetric task. It finds applications in stereophotogrammetry and in robotics. I 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 the solution is simplified by use of unit quaternions to represent rotation. I emphasize a symmetry property that a solution to this problem ought to possess. The best translational offset is the difference between the centroid of the coordinates in one system and the rotated and scaledcentroid ofthe coordinatesin the other system. The best scale is equal to the ratio of the root-mean-square deviations of the coordinates in the two systems from their respective centroids. These exact results are to be preferred to approximate methods based on measurements of a few selected points. The unit quaternion representing the best rotation is the eigenvectorassociatedwith the most positive eigenvalueof