arXiv
Open Access
2015
On the Relation between two Rotation Metrics
Thomas Ruland
Abstrak
In their work "Global Optimization through Rotation Space Search", Richard Hartley and Fredrik Kahl introduce a global optimization strategy for problems in geometric computer vision, based on rotation space search using a branch-and-bound algorithm. In its core, Lemma 2 of their publication is the important foundation for a class of global optimization algorithms, which is adopted over a wide range of problems in subsequent publications. This lemma relates a metric on rotations represented by rotation matrices with a metric on rotations in axis-angle representation. This work focuses on a proof for this relationship, which is based on Rodrigues' Rotation Theorem for the composition of rotations in axis-angle representation.
Topik & Kata Kunci
Penulis (1)
T
Thomas Ruland
Akses Cepat
Informasi Jurnal
- Tahun Terbit
- 2015
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- en
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- arXiv
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- Open Access ✓