Open kfeng19 opened 2 years ago
https://github.com/gaoxiang12/slambook-en/blob/c5b55285b1c448ef246486d69de71afbadfed82c/chapters/vo1.tex#L1547 According to Arun et al. 1987 (Eq. 13), the optimal R seems to be given by VU^T instead of UV^T. However the code seems to produce consistent result with nonlinear method, which is peculiar.
https://github.com/gaoxiang12/slambook-en/blob/c5b55285b1c448ef246486d69de71afbadfed82c/chapters/vo1.tex#L1547 According to Arun et al. 1987 (Eq. 13), the optimal R seems to be given by VU^T instead of UV^T. However the code seems to produce consistent result with nonlinear method, which is peculiar.