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Mathematics
Algorithms to solve absolute orientation problem for GL(3), O(3), and SO(3) groups
A. Yu. Makovetskiia, S. M. Voronina, A. S. Voronina, T. Makavetskayab a Chelyabinsk State University, Chelyabinsk, Russia
b South Ural State University (National Research University), Chelyabinsk, Russia
Abstract:
The most popular algorithm for aligning of 3D point data is the Iterative Closest Point (ICP).
The point-to-point variational problem for orthogonal transformations is mathematically equivalent to the absolute orientation problem in photogrammetry.
In this paper the survey of the known closed form methods to solve point-to-point ICP variation problem is proposed.
Also, the new extension of the Horn algorithm for O(3) group to SO(3) group is obtained.
Computer simulation illustrates the difference of performance for considered methods.
Keywords:
absolute orientation problem, Iterative Closest Points (ICP), point-to-point, closed form solution, exact solution, orthogonal transformation, affine transformation.
Received: 18.01.2022 Revised: 28.02.2022
Citation:
A. Yu. Makovetskii, S. M. Voronin, A. S. Voronin, T. Makavetskaya, “Algorithms to solve absolute orientation problem for GL(3), O(3), and SO(3) groups”, Chelyab. Fiz.-Mat. Zh., 7:1 (2022), 97–112
Linking options:
https://www.mathnet.ru/eng/chfmj273 https://www.mathnet.ru/eng/chfmj/v7/i1/p97
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Abstract page: | 135 | Full-text PDF : | 32 | References: | 33 |
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