Abstract
In a number of photogrammetric problems, it is required to evaluate a spatial similarity from a given set of noncoplanar points being transformed into a corresponding set of image points. A direct least-square evaluation of the coefficients of the transformation is not possible but a two-step method is proposed using Cayley transforms. The only restrictions are that the two sets of coordinates of at least four noncoplanar points be given without central inversions or rotations of 180 degrees between them.
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