Related papers: Special Orthogonal Group SO(3), Euler Angles, Angl…
We present algebraic projective geometry definitions of 3D rotations so as to bridge a small gap between the applications and the definitions of 3D rotations in homogeneous matrix form. A general homogeneous matrix formulation to 3D…
It is fairly well known that rotation in three dimensions can be expressed as a quadratic in a skew symmetric matrix via the Euler-Rodrigues formula. A generalized Euler-Rodrigues polynomial of degree 2n in a skew symmetric generating…
We propose a novel performance metric for articulated robots with distributed directional sensors called the sensor observability analysis (SOA). These robot-mounted distributed directional sensors (e.g., joint torque sensors) change their…
We investigate an aggregation model with intrinsic interactions on the special orthogonal group $SO(3)$. We consider a smooth interaction potential that depends on the squared intrinsic distance, and establish local and global existence of…
We develop an in-depth analysis of the $SO(4)$ Landau models on $S^3$ in the $SU(2)$ monopole background and their associated matrix geometry. The Schwinger and Dirac gauges for the $SU(2)$ monopole are introduced to provide a concrete…
The local Euler obstructions and the Euler characteristics of linear sections with all hyperplanes on a stratified projective variety are key geometric invariants in the study of singularity theory. Despite their importance, in general it…
We present a uniformly globally exponentially stable hybrid angular velocity observer for rigid body systems designed directly on $SO(3)\times\mathbb{R}^3$. The global exponential stability result makes this observer a good candidate for a…
We briefly describe our application of a version of noncommutative differential geometry to the 3-dim quantum space covariant under the quantum group of rotations $SO_q(3)$ and sketch how this might be used to determine the correct physical…
In this paper, we propose a novel framework called rigid body localization for joint position and orientation estimation of a rigid body. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the…
Consider the nonstandard embedding of SO(3) into SO(5) given by the 5-dimensional irreducible representation of SO(3), henceforth called SO(3)_\ir. In this note, we study the topology and the differential geometry of 5-dimensional…
When a three-dimensional object moves relative to an observer, a change occurs on the observer's image plane and in the visual representation computed by a learned model. Starting with the idea that a good visual representation is one that…
We consider orientifold reductions to N=4 gauged supergravity in four dimensions. A special feature of this theory is that different factors of the gauge group can have relative angles with respect to the electro-magnetic SL(2) symmetry.…
A model invariant under a supersymmetric extension of the rotation group O(3) is mapped, using a stereographic projection, from the spherical surface S2 to two dimensional Euclidean space. The resulting model does not have a manifest local…
The paper explains how a unit generalized quaternion is used to represent a rotation of a vector in 3-dimensional space. We review of some algebraic properties of generalized quaternions and operations between them and then show their…
We present a new learning-based framework to recover vehicle pose in SO(3) from a single RGB image. In contrast to previous works that map from local appearance to observation angles, we explore a progressive approach by extracting…
This paper addresses the attitude tracking of a rigid body using a quaternion description. Global finite-time attitude controllers are designed with three types of measurements, namely, full states, attitude plus constant-biased angular…
Matrix elements and spherical functions of irreducible representations of the de Sitter group are studied on the various homogeneous spaces of this group. It is shown that a universal covering of the de Sitter group gives rise to quaternion…
Starting from the defining transformations of complex matrices for the $SO(4,R)$ group, we construct the fundamental representation and the tensor and spinor representations of the group $SO(4,R)$. Given the commutation relations for the…
New method of analysing the free and heavy symmetric tops using Euler's equations to perform extraction from the body frame to the lab frame. Subsequent to extraction, the lab frame equations are solved by space phasor method.
In geometric algebra, the rotation of a vector is described using rotors. Rotors are phasors where the imaginary number has been replaced by a oriented plane element of unit area called a unit bivector. The algebra in three dimensional…