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Concise proof of Tienstra's formula

Author
Porta, J.; Thomas, F.
Type of activity
Journal article
Journal
Journal of surveying engineering (ASCE)
Date of publication
2009
Volume
135
Number
4
First page
170
Last page
172
Repository
http://hdl.handle.net/2117/7474 Open in new window
URL
http://www-iri.upc.es/people/thomas/papers/SURVEYING2009.pdf Open in new window
Abstract
The resection problem consists in finding the location of an observer by measuring the angles sub-tended by lines of sight from this observer to three known stations. Many researchers and practitioners recognize that Tienstra’s formula provides the most compact and elegant solution to this problem. Un- fortunately, all available proofs for this remarkable formula are intricate. This paper shows how, by using barycentric coordinates for the observer in terms of the locations of the stations, a ...
Keywords
Tienstra's formula Triangulation Resection Global localization Barycentric coordinates
Group of research
KRD - Kinematics and Robot Design

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