Authors
Citation
K. Kanatani, ANALYSIS OF 3-D ROTATION FITTING, IEEE transactions on pattern analysis and machine intelligence, 16(5), 1994, pp. 543-549
Citations number
14
Categorie Soggetti
Computer Sciences","Computer Science Artificial Intelligence","Engineering, Eletrical & Electronic
Journal title
ISSN journal
01628828
Volume
16
Issue
5
Year of publication
1994
Pages
543 - 549
Database
ISI
SICI code
0162-8828(1994)16:5<543:AO3RF>2.0.ZU;2-1
Abstract
Computational techniques for fitting a 3-D rotation to 3-D data are re
capitulated in a refined form as minimization over proper rotations, e
xtending three existing methods-the method of singular value decomposi
tion, 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 rota
tion and analyze the statistical behavior of errors in 3-D rotation fi
tting.