Issue No. 05 - May (1994 vol. 16)
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/34.291441
<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>
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
K. Kanatani, "Analysis of 3-D Rotation Fitting," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 16, no. , pp. 543-549, 1994.