Efficient object location determination and error analysis based on barycentric coordinates.

In this paper, we propose an efficient computational method for converting local coordinates to world coordinates using specially structured coordinate data. The problem in question is the computation of world coordinates of an object throughout a motion, assuming that we only know the changing coordinates of some fixed surrounding reference points in the local coordinate system of the object. The proposed method is based on barycentric coordinates; by taking the aforementioned static positions as the vertices of a polyhedron, we can specify the coordinates of the object in each step with the help of barycentric coordinates.