Related papers: A tutorial on $\mathbf{SE}(3)$ transformation para…
It is shown that the groups of Euclidian rotations, rigid motions, proper, orthochronous Lorentz transformations, and the complex rigid motions can be represented by the groups of unit-norm elements in the algebras of real, dual, complex,…
Accurate models of robot dynamics are critical for safe and stable control and generalization to novel operational conditions. Hand-designed models, however, may be insufficiently accurate, even after careful parameter tuning. This…
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…
In this article, we study the geometry of plane curves obtained by three sections and another section given as their sum on certain rational elliptic surfaces. We make use of Mumford representations of semi-reduced divisors in order to…
The Lie group SE(3) of isometric orientation preserving transformation is used for modeling multibody systems, robots, and Cosserat continua. The use of these models in numerical simulation and optimization schemes necessitates the…
This article is an exhaustive revision of concepts and formulas related to quaternions and rotations in 3D space, and their proper use in estimation engines such as the error-state Kalman filter. The paper includes an in-depth study of the…
Accurate rotation estimation is at the heart of robot perception tasks such as visual odometry and object pose estimation. Deep neural networks have provided a new way to perform these tasks, and the choice of rotation representation is an…
We provide the construction of a set of square matrices whose translates and rotates provide a Parseval frame that is optimal for approximating a given dataset of images. Our approach is based on abstract harmonic analysis techniques.…
In this paper we extend recent developments in computational optimal transport to the setting of Riemannian manifolds. In particular, we show how to learn optimal transport maps from samples that relate probability distributions defined on…
Using the coefficients introduced by Bargmann and Moshinsky for the reduction of the su($3$) algebra of Cartesian three-dimensional oscillator multiplet states into so($3$) angular momentum submultiplets, we implement unitary rotations of…
A modified Gibbs's rotation matrix is derived and the connection with the Euler angles, quaternions, and Cayley$-$Klein parameters is established. As particular cases, the Rodrigues and Gibbs parameterizations of the rotation are obtained.…
Reliable watermarking of panoramic imagery is fundamentally challenged by arbitrary 3D rotations. As panoramas are defined on the sphere, they naturally transform under the action of $SO(3)$, rendering conventional planar representations…
Riemannian metrics on the position-orientation space M(3) that are roto-translation group SE(3) invariant play a key role in image analysis tasks like enhancement, denoising, and segmentation. These metrics enable roto-translation…
We discuss how transformations in a three dimensional euclidean space can be described in terms of the Clifford algebra $\mathcal{C}\ell_{3,3}$ of the quadratic space $\mathbb{R}^{3,3}$. We show that this algebra describes in a unified way…
Sliced Optimal Transport (SOT) is a rapidly developing branch of optimal transport (OT) that exploits the tractability of one-dimensional OT problems. By combining tools from OT, integral geometry, and computational statistics, SOT enables…
This work considers the problem of estimating the unscaled relative positions of a multi-robot team in a common reference frame from bearing-only measurements. Each robot has access to a relative bearing measurement taken from the local…
The ``$D$'' matrices for all states of the two fundamental representations and octet are shown in the generalized Euler angle parameterization. The raising and lowering operators are given in terms of linear combinations of the left…
We propose a notion of a ternary skew-symmetric covariant tensor of 3rd order, consider it as a 3-dimensional matrix and study a ten-dimensional complex space of these tensors. We split this space into a direct sum of two five-dimensional…
Energy evaluation using fast Fourier transforms enables sampling billions of putative complex structures and hence revolutionized rigid protein-protein docking. However, in current methods efficient acceleration is achieved only in either…
Starting from the Hamiltonian representation of the dynamics in \cite{rosengren2015chaos,colombo2019long}, this work proposes an innovative procedure to design fully-analytical maneuvers for post-mission disposal of HEOs satellites,…