Title :
Analysis of 3-D rotation fitting
Author :
Kanatani, Kenichi
Author_Institution :
Dept. of Comput. Sci., Gunma Univ., Japan
fDate :
5/1/1994 12:00:00 AM
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
Keywords :
error statistics; image processing; matrix algebra; minimisation; motion estimation; 3-D rotation fitting; covariance matrix; minimization; polar decomposition; proper rotations; quaternion representation; singular value decomposition; statistical behavior; Algorithm design and analysis; Covariance matrix; Fitting; Game theory; Labeling; Learning automata; Matrix decomposition; Motion estimation; Quaternions; Singular value decomposition;
Journal_Title :
Pattern Analysis and Machine Intelligence, IEEE Transactions on
