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Analysis of 3-D rotation fitting

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1 Author(s)
Kanatani, K. ; Dept. of Comput. Sci., Gunma Univ., Japan

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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Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:16 ,  Issue: 5 )