Absolute orientation with the QUEST algorithm

バージョン 1.3.0.1 (3.76 KB) 作成者: Manolis Lourakis
Efficient Absolute Orientation Solver
0.0
(0)
ダウンロード: 656
更新 2018/9/29

ライセンスの表示

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

引用

Manolis Lourakis (2024). Absolute orientation with the QUEST algorithm (https://www.mathworks.com/matlabcentral/fileexchange/65173-absolute-orientation-with-the-quest-algorithm), MATLAB Central File Exchange. 取得済み .

MATLAB リリースの互換性
作成: R2010a
すべてのリリースと互換性あり
プラットフォームの互換性
Windows macOS Linux
カテゴリ
Help Center および MATLAB Answers で ROS Toolbox についてさらに検索
謝辞

ヒントを得たファイル: Absolute orientation with the FOAM algorithm

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

QUEST

バージョン 公開済み リリース ノート
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