17
Intermediate Unknowns
2.
The vector of unknowns is m = (m1, m2, m3, m4, m5):
m1=r11/ty m2=r12/ty m3=r21/ty m4=r22/ty m5=tx/ty
where the r’s
and t’s are unknown rotation and translation parameters.
3. Let
vector b = (u1,u2,…,un) contain the u image
coordinates.
4. Solve the system of linear equations
A m = b
for
unknown parameter vector m.