Related papers: Special Orthogonal Group SO(3), Euler Angles, Angl…
We use a recently developed action principle in spaces with curvature and torsion to derive the Euler equations of motion for a rigid body within the body-fixed coordinate system. This serves as an example that the particle trajectories in…
General Relativity in dimension $n = p + q$ can be formulated as a gauge theory for the conformal group $SO(p+1,q+1)$, along with an additional field reducing the structure group down to the Poincar\'e group $ISO(p,q)$. In this paper, we…
We introduce a rotation-invariant representation of planar shapes. In particular, this representation encodes shapes as vectors such that the Euclidean distance between them serves as a valid shape distance. For standardized, star-shaped…
Different ways of representing the group $SU(3)$ within a Geometric Algebra approach are explored. As part of this we consider characteristic multivectors for $SU(3)$, and how these are linked with decomposition of generators into commuting…
It is well known that a rigid motion of the Euclidean plane can be written as the composition of at most three reflections. It is perhaps not so widely known that a similar result holds for Euclidean space in any number of dimensions. The…
In this paper an alternative theory about space-time is given. First some preliminaries about 3-dimensional time and the reasons for its introduction are presented. Alongside the 3-dimensional space (S) the 3-dimensional space of spatial…
The control of free-floating robots requires dealing with several challenges. The motion of such robots evolves on a continuous manifold described by the Special Euclidean Group of dimension 3, known as SE(3). Methods from finite horizon…
Topological surgery in dimension $3$ is intrinsically connected with the classification of $3$-manifolds and with patterns of natural phenomena. In this expository paper, we present two different approaches for understanding and visualizing…
This work presents UNO, a unified monocular visual odometry framework that enables robust and adaptable pose estimation across diverse environments, platforms, and motion patterns. Unlike traditional methods that rely on deployment-specific…
Estimating 3D rotations is a common procedure for 3D computer vision. The accuracy depends heavily on the rotation representation. One form of representation -- rotation matrices -- is popular due to its continuity, especially for pose…
Group theory indicates the existence of a $SO(8) X SO(7) \subset SO(16)$ invariant self-duality equation for a 3-form in 16 dimensions. It is a signal for interesting topological field theories, especially on 8-dimensional manifolds with…
The emergence of triaxiality in the low-lying collective bands of $^{166}$Er is systematically explored within the SU3-IBM. In this framework, SU(3) higher-order interactions are included, which enable the descriptions of various quadrupole…
We formulate a topological theory in six dimensions with gauge group SO(3,3) which reduces to gravity on a four dimensional defect if suitable boundary conditions are chosen. In such a framework we implement the reflection automorphism of…
In this article, we present new computational realizations of principal geodesic analysis for the unit sphere $S^2$ and the special orthogonal group $SO(3)$. In particular, we address the construction of long-time smooth lifts across…
We analyze the geometrical background under which many Lie groups relevant to particle physics are endowed with a (possibly multiple) hexagonal structure. There are several groups appearing, either as special holonomy groups on the…
In the gauge theoretic approach of gravity, General Relativity is described by gauging the symmetry of the tangent manifold in four dimensions. Usually the dimension of the tangent space is considered to be equal to the dimension of the…
We present an operational reconstruction of the well-known two-to-one homomorphism between the groups $SU(2)$ and $SO(3)$, grounded in the physical description of quantum state preparation and evolution. Starting from the connection between…
Any model order reduced dynamical system that evolves a modal decomposition to approximate the discretized solution of a stochastic PDE can be related to a vector field tangent to the manifold of fixed rank matrices. The Dynamically…
In this article, a brief description of Discrete Mechanics and Variational Integrators which preserve the symplectic structure of the flow will be provided and a Newton-Raphson algorithm that can be used to solve implicit equations on the…
This paper revisits the topic of rotation estimation through the lens of special unitary matrices. We begin by reformulating Wahba's problem using $SU(2)$ to derive multiple solutions that yield linear constraints on corresponding…