Analysis of 3-D rotation fitting
K Kanatani - IEEE Transactions on pattern analysis and …, 1994 - ieeexplore.ieee.org
K Kanatani
IEEE Transactions on pattern analysis and machine intelligence, 1994•ieeexplore.ieee.orgComputational techniques for fitting a 3-D rotation to 3-D data are recapitulated in a refined
form as minimization over proper rotations, extending three existing methods-the method of
singular value decomposition, the method of polar decomposition, and the method of
quaternion representation. Then, we describe the problem of 3-D motion estimation in this
new light. Finally, we define the covariance matrix of a rotation and analyze the statistical
behavior of errors in 3-D rotation fitting.<>
form as minimization over proper rotations, extending three existing methods-the method of
singular value decomposition, the method of polar decomposition, and the method of
quaternion representation. Then, we describe the problem of 3-D motion estimation in this
new light. Finally, we define the covariance matrix of a rotation and analyze the statistical
behavior of errors in 3-D rotation fitting.<>
Computational techniques for fitting a 3-D rotation to 3-D data are recapitulated in a refined form as minimization over proper rotations, extending three existing methods-the method of singular value decomposition, the method of polar decomposition, and the method of quaternion representation. Then, we describe the problem of 3-D motion estimation in this new light. Finally, we define the covariance matrix of a rotation and analyze the statistical behavior of errors in 3-D rotation fitting.< >
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