Related papers: Dual Complex Adjoint Matrix: Applications in Dual …
Given an approximate eigenvector, its (standard) Rayleigh quotient and harmonic Rayleigh quotient are two well-known approximations of the corresponding eigenvalue. We propose a new type of Rayleigh quotient, the homogeneous Rayleigh…
Quaternion symmetry is ubiquitous in the physical sciences. As such, much work has been afforded over the years to the development of efficient schemes to exploit this symmetry using real and complex linear algebra. Recent years have also…
Relative pose (position and orientation) estimation is an essential component of many robotics applications. Fiducial markers, such as the AprilTag visual fiducial system, yield a relative pose measurement from a single marker detection and…
We discuss the (right) eigenvalue equation for $\mathbb{H}$, $\mathbb{C}$ and $\mathbb{R}$ linear quaternionic operators. The possibility to introduce an isomorphism between these operators and real/complex matrices allows to translate the…
It is well known that a family of $n\times n$ commuting matrices can be simultaneously triangularized by a unitary similarity transformation. The diagonal entries of the triangular matrices define the $n$ joint eigenvalues of the family. In…
The two-sided Rayleigh quotient iteration proposed by Ostrowski computes a pair of corresponding left-right eigenvectors of a matrix $C$. We propose a Grassmannian version of this iteration, i.e., its iterates are pairs of $p$-dimensional…
Whenever a sensor is mounted on a robot hand it is important to know the relationship between the sensor and the hand. The problem of determining this relationship is referred to as hand-eye calibration, which is important in at least two…
We generalize the Rayleigh Quotient Iteration (RQI) to the problem of solving a nonlinear equation where the variables are divided into two subsets, one satisfying additional equality constraints and the other could be considered as…
Starting from known results, due to Y. Tian in [Ti; 00], referring to the real matrix representations of the real quaternions, in this paper we will investigate the left and right real matrix representations for the complex quaternions and…
Numerous attempts have been made to replicate the success of complex-valued algebra in engineering and science to other hypercomplex domains such as quaternions, tessarines, biquaternions, and octonions. Perhaps, none have matched the…
Objects' rigid motions in 3D space are described by rotations and translations of a highly-correlated set of points, each with associated $x,y,z$ coordinates that real-valued networks consider as separate entities, losing information.…
Quaternions, discovered by Sir William Rowan Hamilton in the 19th century, are a significant extension of complex numbers and a profound tool for understanding three-dimensional rotations. This work explores the quaternion's history,…
Multi-perspective cameras are quickly gaining importance in many applications such as smart vehicles and virtual or augmented reality. However, a large system size or absence of overlap in neighbouring fields-of-view often complicate their…
The complex matrix representation for a quaternion matrix is used in this paper to find necessary and sufficient conditions for the existence of an $H$-selfadjoint $m$th root of a given $H$-selfadjoint quaternion matrix. In the process,…
Synchronization over the special Euclidean group SE(3) aims to recover absolute poses from noisy pairwise relative transformations and is a core primitive in robotics and 3D vision. Standard approaches often require multi-step heuristic…
In this paper, we extend the Chen and Moore determinants of quaternion Hermitian} matrices to dual quaternion Hermitian matrices. We show the Chen determinant of dual quaternion Hermitian {matrices is invariant under addition, switching,…
We introduce right eigenvalues and subeigenvalues for square dual complex matrices. An $n \times n$ dual complex Hermitian matrix has exactly $n$ right eigenvalues and subeigenvalues, which are all real. The Hermitian matrix is positive…
The techniques and analysis presented in this paper provide new methods to solve optimization problems posed on Riemannian manifolds. A new point of view is offered for the solution of constrained optimization problems. Some classical…
Nowadays, we have seen that dual quaternion algorithms are used in 3D coordinate transformation problems due to their advantages. 3D coordinate transformation problem is one of the important problems in geodesy. This transformation problem…
Dual quaternion matrices have important applications in multi-agent formation control. In this paper, we first address the concept of spectral norm of dual quaternion matrices. Then, we introduce a von Neumann type trace inequality and a…