title: A least-squares algorithm for the equiform transformation from spatial marker co-ordinates.
abstract: The present paper describes an algorithm for estimating the translation vector and the rotation matrix of a moving body from noisy measurements on the spatial co-ordinates of at least three non-collinear markers. A sensitivity analysis of the estimated parameters and of the helical axis is presented in terms of characteristics of the marker distribution. The implementation of the proposed algorithm in a FORTRAN-subroutine is appended.
authors.affiliation: Faculty of Mechanical Engineering, Eindhoven University of Technology, The Netherlands.
authors.forename: F E
authors.initials: FE
authors.lastname: Veldpaus
authors.forename: H J
authors.initials: HJ
authors.lastname: Woltring
authors.forename: L J
authors.initials: LJ
authors.lastname: Dortmans
mesh_terms: D000465:Algorithms; D001696:Biomechanical Phenomena; D001842:Bone and Bones / Q000502:physiology*; D006801:Humans; D008962:Models, Theoretical; D009068:Movement; D012984:Software