or non-planar configuration, which is a major advantage. Fur-
thermore, the implementation of the quaternion-based general
approach is easy, as it requires no partial derivative calcula-
tion or any complex algebraic computation.
The experimental results show that the quaternion-based
general approach is robust against both image and object
noise, and performs accurately for oblique and vertical images
as well as planar/non-planar object points. Therefore, it can be
employed for various applications without the need to provide
user-defined approximate values. Compared to other
SPR
meth-
ods, the quaternion-based general approach is almost identical
to the non-linear method (i.e., it does not deviate more than 1
percent from the non-linear
SPR
) and outperforms the projec-
tive and
DLT
as well as the state-of-the-art
RP
n
P
method.
In the proposed quaternion-based general approach, the
geometric constraint is enforced for all combinations of two
points out of the available
n
points, i.e.,
n
(
n
-1)/2 combina-
tions are utilized. Thus, this approach becomes more time
consuming when dealing with a large number of points.
Therefore, current work is focusing on optimizing the selec-
tion of point pairs instead of using all the possible combina-
tions to enhance the execution time of this approach.
Furthermore, developing a closed-form solution that works
with three or more points is another part of our future plan.
Acknowledgments
The authors would like to thank Natural Sciences and Engi-
neering Research Council of Canada (
NSERC
) for a discovery
grant and
TECTERRA
for funding this research.
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(Received 30 May 2014; accepted 17 October 2014; final ver-
sion 20 October 2014)
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