Analysis of 3-D rotation fitting
Kanatani, K.
Dept. of Comput. Sci., Gunma Univ.;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: May 1994
Volume: 16,
Issue: 5
On page(s): 543-549
ISSN: 0162-8828
References Cited: 14
CODEN: ITPIDJ
INSPEC Accession Number: 4713253
Digital Object Identifier: 10.1109/34.291441
Current Version Published: 2002-08-06
Abstract
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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