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Rotations on the 3-dimensional Euclidean vector-space can be represented by real quaternions, as was shown by Hamilton. Introducing complex quaternions allows us to extend the result to elliptic and hyperbolic rotations on the Minkowski…
We show that relativistic rotation transformations represent transfer maps between the laboratory system and a local observer on an observer manifold, rather than an event manifold, in the spirit of C-equivalence. Rotation is, therefore,…
The dynamics of $N\geq 3$ interacting particles is investigated in the non-relativistic context of the Barbour-Bertotti theories. The reduction process on this constrained system yields a Lagrangian in the form of a Riemannian line element.…
We investigate the structure of SO(3)-invariant quantum systems which are composed of two particles with spins j_1 and j_2. The states of the composite spin system are represented by means of two complete sets of rotationally invariant…
In neural networks, it is often desirable to work with various representations of the same space. For example, 3D rotations can be represented with quaternions or Euler angles. In this paper, we advance a definition of a continuous…
This paper presents a series of general results about the optimal estimation of physical transformations in a given symmetry group. In particular, it is shown how the different symmetries of the problem determine different properties of the…
We address the correspondence-free alignment of two rotation sets on \(SO(3)\), a core task in calibration and registration that is often impeded by missing time alignment, outliers, and unknown axis conventions. Our key idea is to…
Symmetric orthogonalization via SVD, and closely related procedures, are well-known techniques for projecting matrices onto $O(n)$ or $SO(n)$. These tools have long been used for applications in computer vision, for example optimal 3D…
6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…
In recent years, a deep learning framework has been widely used for object pose estimation. While quaternion is a common choice for rotation representation of 6D pose, it cannot represent an uncertainty of the observation. In order to…
This article presents and compares four approaches for computing the rotation of a point about an axis by an angle in $\mathbb{R}^3$. We illustrate these methods by computing, by hand, the rotation of point $P=(1,0,1)^T$ about axis…
We give an explicit algebraic description of finite Lorentz transformations of vectors in 10-dimensional Minkowski space by means of a parameterization in terms of the octonions. The possible utility of these results for superstring theory…
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…
Analogous to the famous Euler angle parametrization in three-dimensional Euclidean space, a reflection-free Lorentz transformation in (2+1)-dimensional Minkowski space can be decomposed into three simple parts. Applying this decomposition…
Quantum reference frame transformations have been proposed to provide a means by which to translate descriptions of quantum systems relative to each other. At present, there are several differing frameworks for describing quantum reference…
Equational reasoning is central to quantum circuit optimisation and verification: one replaces subcircuits by provably equivalent ones using a fixed set of rewrite rules viewed as equations. A finite rule set is most informative when it…
The attitude space has been parameterized in various ways for practical purposes. Different representations gain preferences over others based on their intuitive understanding, ease of implementation, formulaic simplicity, and physical as…
Quaternions provide a unified algebraic and geometric framework for representing three-dimensional rotations without the singularities that afflict Euler-angle parametrisations. This article develops a pedagogical and conceptual analysis of…
We propose a general algorithm to compute all the symmetry classes of any $\mathrm{SO}(3)$ or $\mathrm{O}(3)$ linear representation. This method relies on the introduction of a binary operator between sets of conjugacy classes of closed…
This paper proposes to use the three vectors in a rotation matrix as the representation in head pose estimation and develops a new neural network based on the characteristic of such representation. We address two potential issues existed in…