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 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:
Manolis Lourakis (2023). Absolute orientation with the QUEST algorithm (https://www.mathworks.com/matlabcentral/fileexchange/65173-absolute-orientation-with-the-quest-algorithm), MATLAB Central File Exchange. Retrieved .
MATLAB Release Compatibility
Platform CompatibilityWindows macOS Linux
Inspired by: Absolute orientation with the FOAM algorithm
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Fixed bug with the computation of the mean residual error.
Compute the max eigenvalue from the QUEST characteristic polynomial
Minor updates in the description