Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
A Compact Formula for the Derivative of a 3-D Rotation in Exponential Coordinates
Year:2015
Research Areas
  • Electronic technology and of the communications
Information
Abstract
We present a compact formula for the derivative of a 3-D rotation matrix with respect to its exponential coordi- nates. 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 alle- viate 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.
International
Si
JCR
Si
Title
Journal of Mathematical Imaging And Vision
ISBN
0924-9907
Impact factor JCR
2,33
Impact info
Volume
51
10.1007/s10851-014-0528-x
Journal number
3
From page
378
To page
384
Month
MARZO
Ranking
Participants
  • Autor: Guillermo Gallego Bonet (Universidad Politécnica de Madrid)
  • Autor: Anthony Yezzi (Georgia Institute of Technology)
  • Autor: Narciso Garcia Santos (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Grupo de Tratamiento de Imágenes (GTI)
  • Departamento: Señales, Sistemas y Radiocomunicaciones
S2i 2019 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)