Iterative algorithm of space resection using Rodrigues matrix

Space resection, also known as the camera exterior orientation, is a fundamental problem in photogrammetry, computer vision and other areas. In the case of arbitrary large posture image, the classical iterative method based on Euler angle using collinearity equations usually fail because the initial values are poor or unknown. For this reason, this paper use Rodrigues matrix to represent the rotation matrix, and then establish the mathematical model of space resection based on Rodrigues matrix, finally present the solution of the model. This algorithm need linearization and iterative process, but has no initial values problem, regardless of the size of the Euler angle, and is fast and effective. Illustrative examples are given to validate the algorithm.