ANALYSIS OF 3-D ROTATION FITTING

被引：129

作者：

KANATANI, K

机构：

[1] Department of Computer Science Gunma University

来源：

IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE | 1994年 / 16卷 / 05期

关键词：

3-D ROTATION; SINGULAR VALUE DECOMPOSITION; POLAR DECOMPOSITION; QUATERNION REPRESENTATION; ESSENTIAL MATRIX; COVARIANCE MATRIX;

D O I：

10.1109/34.291441

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页码：543 / 549

页数：7

共 14 条

[1] LEAST-SQUARES FITTING OF 2 3-D POINT SETS [J].