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

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 Novembe