# Help in Explaining POSIT algorithm (3D maths)

#### Anhar Miah

Hello Everyone,

This is my fisrt post! I have been suggested that this forum's members may be able to help me, this thread was orginially posted in another forum, they have re-directed me towards this community! :

{original post}

Hi guys,

I've been doing some background hobby project based on using a webcam to detect 4 IR LEDs their position is then tracked, using the POSIT algorithm it is possible to calculate the exact location and pose (translation and orientation) of the LEDs.

Anway here is the paper :

http://www.cfar.umd.edu/~daniel/dani...ose25Lines.pdf [Broken]

it is Daniels DeMenthons classical "POSIT in 25 lines of code"

The maths is a bit too heavy for me, he inlcudes some codes, I was trying to convert this into VB, but that is only half the story,

what I would really like is a detailed numerical example, that I can actually see how it works (the algorithm) because I've tried to understand the mathemtical explantions in the paper but just got confused !

Summay:
(1) A simple numerical example that explains the algorithm
(2) Possibly a VB6 translation (not really that important)

thanks guys!

Also:

that paper has mathematica code included, I'm wondering if anyone can "reverse" engineer the code to understand it?

Looking forward to replies

Anhar Hussain Miah

Last edited by a moderator:

#### Anhar Miah

Bump! anyone?

(why does this thread not appear directly, can only view it under my account?)

EDIT:

its now fine, thread appears correctly.

Last edited:

#### maze

How much linear algebra do you know?

#### Anhar Miah

In theory I should know it well, in practice I haven't touched it in a couple of years! I'll try my best to follow along, if I get stuck I'll point out the bits I don't understand.

Anhar,

ps. going to sleep now, its 4 am in the uk!

#### Anhar Miah

re: eeek

ok, anything? anyone? I've seen people here solving harder maths problems than this, I was fairly hopeful that this board would be able to help, can someone please try.

Thanks guys,

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