Absolute orientation with the QUEST algorithm
Efficient Absolute Orientation Solver
You are now following this Submission
- You will see updates in your followed content feed
- You may receive emails, depending on your communication preferences
The function computes the orientation and translation for the transformation between
two corresponding 3D point sets pi and qi so that they are related by qi = R*pi + t.
It is based on Shuster's QUEST algorithm, a popular technique in astronautics for
estimating attitude, described in M.D. Shuster and S.D. Oh: "Three-Axis Attitude Determination from
Vector Observations", Journal of Guidance and Control, Vol. 4, No. 1, January–February 1981, pp. 70–77.
See http://www.malcolmdshuster.com/Pub_1981a_J_TRIAD-QUEST_scan.pdf
See also M. Lourakis and G. Terzakis: "Efficient Absolute Orientation Revisited", in Intl. Conf. on Intelligent Robots and Systems (IROS), 2018.
Additionally, I have a code for absolute orientation based on the FOAM algorithm:
https://www.mathworks.com/matlabcentral/fileexchange/63926
Cite As
Manolis Lourakis (2026). Absolute orientation with the QUEST algorithm (https://se.mathworks.com/matlabcentral/fileexchange/65173-absolute-orientation-with-the-quest-algorithm), MATLAB Central File Exchange. Retrieved .
Acknowledgements
Inspired by: Absolute orientation with the FOAM algorithm
General Information
- Version 1.3.0.1 (3.76 KB)
MATLAB Release Compatibility
- Compatible with any release
Platform Compatibility
- Windows
- macOS
- Linux
| Version | Published | Release Notes | Action |
|---|---|---|---|
| 1.3.0.1 | Updated description |
||
| 1.3.0.0 | Fixed bug with the computation of the mean residual error.
|
||
| 1.2.0.0 | Compute the max eigenvalue from the QUEST characteristic polynomial
|
||
| 1.1.1.0 | Description changes |
||
| 1.1.0.0 | Minor updates in the description |
||
| 1.0.0.0 |
