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Get the free closed form solution of absolute orientation using unit quaternions - people csail mit

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Reprinted from Journal of the Optical Society of America A, Vol. ... I present here a closed-form solution to the least-squares problem for three or more points. ...
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Closed form solution refers to a mathematical expression or formula that provides an exact solution to a problem, typically involving equations or functions.
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To fill out a closed form solution, you need to derive or compute the exact mathematical expression or formula that solves the given problem. This is typically done by manipulating the equations or functions involved.
The purpose of closed form solution is to provide an exact and concise mathematical expression or formula that solves a problem, making it easier to analyze, manipulate, and understand.
The closed form solution must report the mathematical expression or formula that solves the problem, along with any necessary variables or constants used.
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