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Abstract
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| 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. | |
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International
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Si |
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JCR
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Si |
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Title
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Journal of Mathematical Imaging And Vision |
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ISBN
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0924-9907 |
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Impact factor JCR
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2,33 |
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Impact info
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Volume
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51 |
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10.1007/s10851-014-0528-x |
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Journal number
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3 |
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From page
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378 |
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To page
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384 |
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Month
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MARZO |
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Ranking
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