Abstract
A special nonlinear problem is the three-dimensional datum transformation solved by the Procrustes Algorithm. A definition of the three-dimensional datum transformation with the coupled unknowns of type dilatation unknown, also called scale factor, translation and rotation unknown follows afterwards.
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Grafarend, E.W., Awange, J.L. (2012). The Nonlinear Problem of the 3d Datum Transformation and the Procrustes Algorithm. In: Linear and Nonlinear Models. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-22241-2_12
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