In this paper an extension of the classical attitude Wahba's problem to a new problem that involves both position and attitude is presented. This new problem is illustrated in the dual algebra of orthogonal dual tensors. Our approach makes use of the isomorphism between the special euclidean group SE_3 and the orthogonal dual tensors group SO_3, which allows the development of a new technique for solving the proposed problem. This new Wahba problem is directly related to different applications such as point-to-point registration and sensor calibration.
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