“…Spatial coordinate-based positions often need to be transformed from their own reference frame to another reference frame by an analytic parametric model. This is a standard problem in several fields of geosciences and engineering, including geodesy [11,18,19,30,33], land surveying and cadastral planning [2,8,16,32], cartography and digital mapping [1,5,28,38], photogrammetry and remote sensing [22,25,39], robotics and computer vision [7,13,31], among others.…”