18. 車輪の再発明
• Orthogonal Procrustes • Absolute Orientation
Problem – 写真測量学・光学
– 心理学分野 (Photogrammetria, J.
(Psychometrikaなど) Optical Soc. of America
など)
• Wahba’s Problem
– 天文学分野
• Fitting corresponding
point sets
– コンピュータビジョン
(IEEE PAMIなど)
19. Orthogonal Procrustes Problem
Hurley et. al, 1962
[11] Schönemman, 1966
Procrustes. "Now then, you fellows; I
[3] Schönemman et. al, 1970
mean to fit you all to my little bed!"
[5] Akca, 2003
Chorus. "Oh lor-r!!"
Orthogonal Procrustes
Extended Orthogonal Procrustes
Generalized Orthogonal Procrustes
File:The Modern Bed of Procustes - Punch cartoon - Project
Gutenberg eText 13961.png
http://commons.wikimedia.org/wiki/File:The_Modern_Bed_of_Proc
ustes_-_Punch_cartoon_-_Project_Gutenberg_eText_13961.png
20. Wahba’s Problem
Wahba, 1965
Prof. Grace Wahba [6] Shuster, 2006
(University of Wisconsin-Madison) [7] Markley, 1999
正の重み
spacecraft座標系 基準座標系
での方向 での方向
http://www.stat.wisc.edu/~wahba/public/jpg/jsm.05/noether.html
Grace Wahba, “Problem 65–1: A Least Squares Estimate of
Spacecraft Attitude,” SIAM Review, Vol. 7, No. 3, July 1965, p. 409.
21. Absolute Orientation
[8] Thompson, 1958
[16] Horn, 1987
[9] Horn et. al, 1988
‘
E. H. Thompson, "An exact linear solution of
the problem of absolute orientation,"
Photogrammetria 15(4), 163–179 (1958).