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Issue No.05 - May (1994 vol.16)
pp: 543-549
ABSTRACT
<p>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.</p>
INDEX TERMS
image processing; minimisation; motion estimation; matrix algebra; error statistics; 3-D rotation fitting; minimization; proper rotations; singular value decomposition; polar decomposition; quaternion representation; covariance matrix; statistical behavior
CITATION
K. Kanatani, "Analysis of 3-D Rotation Fitting", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol.16, no. 5, pp. 543-549, May 1994, doi:10.1109/34.291441
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