The map stitching is a type of localization algorithm in which the network is divided into small overlapping subregions, each of which creates a local map, and then, the local maps are stitched together to form a single global map. Although there are several methods of constructing local maps, every existing algorithms uses the same method for stitching two maps, called the absolute orientation method. In this paper, we extend the absolute orientation method so that it can handle every available distance constraints between two maps. We experimentally studied the performance of our proposing method under various settings. The results show that our method achieves a significant performance improvement upon the existing method.