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Great description! Thanks a lot for your work!
My implementation on a robot controller (where no linear algebra framework is available) works like a charm :)
Line Fitting in 3D - Sublucid Geometry
Orthogonal Regression is the process of finding the line that best fits a set of points by minimizing their squared orthogonal distances to it.
https://zalo.github.io/blog/line-fitting/
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