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Efficient Linear Solution of Exterior Orientation
February 2001 (vol. 23 no. 2)
pp. 140-148

Abstract—This paper concerns an efficient algorithm for the solution of the exterior orientation problem. Orthogonal decompositions are used to first isolate the unknown depths of feature points in the camera reference frame, allowing the problem to be reduced to an absolute orientation with scale problem, which is solved using the SVD. The key feature of this approach is the low computational cost compared to existing approaches.

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Index Terms:
Exterior orientation, pose estimation, absolute orientation, efficient linear method.
Paul D. Fiore, "Efficient Linear Solution of Exterior Orientation," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 23, no. 2, pp. 140-148, Feb. 2001, doi:10.1109/34.908965
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