A Close-form Solution of Absolute Orientation Using Unit Quaternions

By Zhang Rui. 2007

2,624 citations recorded by the source corpus.

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Citations in the corpus

Layered RGBD scene flow estimation (2015, methodology): “We estimate the global 3D rotation and translation between these two sets of corresponding 3D points using Horn’s quaternion-based method [2, 20].”
Reassembling fractured objects by geometric matching (2006, methodology): “Using the quaternion method proposed by [Horn 1987], we find the optimal Euclidean transformation that maps the points (b(C(1)),pk (C 1)) of feature C1 to their corresponding points (b(D(1)),pk (D 1)) of D1, and similarly for C2,D2.”
Collective Langevin dynamics of flexible cytoskeletal fibers (2007, background): “this, the best translation and rotation which brings the reference points onto the current points is calculated [32].”
Automated model-based vertebra detection, identification, and segmentation in CT images (2009, unknown): “For registration, we allow seven degrees of freedom including translation, rotation, and isotropic scaling (Horn, 1987) in order to compensate not only differences in poses but also different sizes of the vertebrae.”
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection (2019, methodology): “, Horn’s method [3] for P-REG, or PLICP [19] for G-REG.”
The Geometry of Distributed Representations for Better Alignment, Attenuated Bias, and Improved Interpretability (2020, background): “However, Horn et al. [47] only showed that the choice of optimal scaling is invariant from the rotation in the second (less intuitive) variant.”
ORB-SLAM: A Versatile and Accurate Monocular SLAM System (2015, methodology): “[42] B. K. P. Horn, “Closed-form solution of absolute orientation using unit quaternions,” J. Opt.”
Distraction suppression for vision-based pose estimation at city scales (2013, methodology): “1 3-point RANSAC with Horn’s method [26] for hypothesis generation.”
Visual-Inertial Monocular SLAM With Map Reuse (2016, methodology): “This optimal scale factor is computed aligning the estimated trajectory with the groundtruth by a similarity transformation [22].”
Fusion of time-of-flight depth and stereo for high accuracy depth maps (2008, methodology): “This 3D-3D correspondences can be used to estimate the transformation s[R2T2] by a closed form method [19].”