Help in Explaining POSIT algorithm (3D maths)

[Anhar Hussain]

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

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 in advanced!

thanks guys!