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dc.contributor.authorGallego, Guillermo
dc.contributor.authorYezzi, Anthony
dc.date.accessioned2014-08-22T19:46:01Z
dc.date.available2014-08-22T19:46:01Z
dc.date.issued2014-08
dc.identifier.citationGallego, G. & Yezzi, A. (2014). "A Compact Formula for the Derivative of a 3-D Rotation in Exponential Coordinates". Journal of Mathematical Imaging and Vision, 2014.en_US
dc.identifier.issn0924-9907 (Print)
dc.identifier.issn1573-7683 (Online)
dc.identifier.urihttp://hdl.handle.net/1853/52144
dc.description©2014 Springer. The final publication is available at www.springerlink.com: http://dx.doi.org/10.1007/s10851-014-0528-xen_US
dc.descriptionDOI: 10.1007/s10851-014-0528-x
dc.description.abstractWe present a compact formula for the derivative of a 3-D rotation matrix with respect to its exponential coordinates. A geometric interpretation of the resulting expression is provided, as well as its agreement with other less-compact but better-known formulas. To the best of our knowledge, this simpler formula does not appear anywhere in the literature. We hope by providing this more compact expression to alleviate the common pressure to reluctantly resort to alternative representations in various computational applications simply as a means to avoid the complexity of differential analysis in exponential coordinates.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectCross-product matrixen_US
dc.subjectDerivative of rotationen_US
dc.subjectExponential mapen_US
dc.subjectLie groupen_US
dc.subjectRodrigues parametersen_US
dc.subjectRotationen_US
dc.subjectRotation vectoren_US
dc.titleA Compact Formula for the Derivative of a 3-D Rotation in Exponential Coordinatesen_US
dc.typePre-printen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameUniversidad Politécnica de Madrid. Grupo de Tratamiento de Imagenesen_US
dc.contributor.corporatenameUniversity of Zürich. Artificial Intelligence Laben_US
dc.contributor.corporatenameUniversity of Zürich. Robotics and Perception Groupen_US
dc.publisher.originalSpringer
dc.embargo.termsnullen_US


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