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<p>The authors describe a numerical procedure for solving problems involving minimization over the rotation group of quadratic forms which arise in connection with problems of computer vision. The algorithm presented is a sequential quadratic programming method which takes advantage of the special structure of the problem constraints. It is demonstrate that the method is globally convergent.</p>
minimisation; convergence; globally convergent algorithm; rotation group; quadratic forms; computer vision; sequential quadratic programming; minimisation; quadratic programming

C. Gurwitz and M. Overton, "A Globally Convergent Algorithm for Minimizing Over the Rotation Group of Quadratic Forms," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 11, no. , pp. 1228-1232, 1989.
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