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Relative Orientation Dependent on Dual Quaternions

A new approach to relative orientation based on dual quaternions is proposed. Dual quaternions are used to express a unified description of the relative position and orientation of two images in a stereopair. The coplanarity condition equation and its linearised model based on dual quaternions are established. According to the principle of least squares adjustment with constraints, a dual quaternion can be identified and the relative‐orientation parameters can then be obtained by a non‐linear transformation of the components of the dual quaternion. Experimental results show that the proposed approach is feasible and more reliable and efficient than the conventional approach based on Euler angles.