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MathGroup Archive 1999

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Re: Interesting Yaw, Pitch, Roll Problem

  • To: mathgroup at
  • Subject: [mg19336] Re: [mg19142] Interesting Yaw, Pitch, Roll Problem
  • From: hanssen at
  • Date: Fri, 20 Aug 1999 23:09:25 -0400
  • Sender: owner-wri-mathgroup at

Hi, Robert

part of your problem is setting up the rotation
matrix (let's call it rot) such that


A more general form of this problem 

   given n>=3 vectors q[i]  and z[i]  in 3-space
   looking for 3*3-matrix  rot  such that
   || rot.q[i] - z[i] ||^2 -> Minimum

is solved in  Arun et al., Least Square
Fitting of Two 3-D Point Sets, IEEE Trans.
PAMI-9, 698-700 (1985). 

Hope this helps you, 

Dipl.-Math. Adalbert Hanszen

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