Analysis of 3-D rotation fitting
- 1 May 1994
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Pattern Analysis and Machine Intelligence
- Vol. 16 (5), 543-549
- https://doi.org/10.1109/34.291441
Abstract
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.Keywords
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