10:3410:34, 20 January 2015diffhist+683
Kabsch algorithm
The quaternion method goes back to 1999, not to 2004, and it was generalized in 2002 to probability distributions (thus works for a continuum of weighted points); the two refs are added.
16:0116:01, 19 July 2011diffhist+326
True-range multilateration
The locations of the two points at the intersection of three spheres are simpler if we remove the assumptions on the coordinates system: see paper cited in external ref
10:3410:34, 20 January 2015diffhist+683
Kabsch algorithm
The quaternion method goes back to 1999, not to 2004, and it was generalized in 2002 to probability distributions (thus works for a continuum of weighted points); the two refs are added.
16:0116:01, 19 July 2011diffhist+326
True-range multilateration
The locations of the two points at the intersection of three spheres are simpler if we remove the assumptions on the coordinates system: see paper cited in external ref