Absolute orientation with the QUEST algorithm

Versione 1.3.0.1 (3,76 KB) da Manolis Lourakis
Efficient Absolute Orientation Solver
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Aggiornato 29 set 2018

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The function computes the orientation and translation for the transformation between
two corresponding 3D point sets pi and qi so that they are related by qi = R*pi + t.
It is based on Shuster's QUEST algorithm, a popular technique in astronautics for
estimating attitude, described in M.D. Shuster and S.D. Oh: "Three-Axis Attitude Determination from
Vector Observations", Journal of Guidance and Control, Vol. 4, No. 1, January–February 1981, pp. 70–77.
See http://www.malcolmdshuster.com/Pub_1981a_J_TRIAD-QUEST_scan.pdf
See also M. Lourakis and G. Terzakis: "Efficient Absolute Orientation Revisited", in Intl. Conf. on Intelligent Robots and Systems (IROS), 2018.

Additionally, I have a code for absolute orientation based on the FOAM algorithm:
https://www.mathworks.com/matlabcentral/fileexchange/63926

Cita come

Manolis Lourakis (2025). Absolute orientation with the QUEST algorithm (https://it.mathworks.com/matlabcentral/fileexchange/65173-absolute-orientation-with-the-quest-algorithm), MATLAB Central File Exchange. Recuperato .

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Creato con R2010a
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Ispirato da: Absolute orientation with the FOAM algorithm

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QUEST

Versione Pubblicato Note della release
1.3.0.1

Updated description
1.3.0.0

Fixed bug with the computation of the mean residual error.
Added quaternion to rotation matrix conversion without normalization.
Added test for singular rotation (i.e. +/-pi rotation around an arbitrary axis).
1.2.0.0

Compute the max eigenvalue from the QUEST characteristic polynomial
instead of the FOAM one previously used. Note that the two are equivalent
for infinitely precise arithmetic
1.1.1.0

Description changes
1.1.0.0

Minor updates in the description
1.0.0.0