Related papers: A Closed-form Solution to the Wahba Problem for Pa…
The Wahba problem, also known as rotation search, seeks to find the best rotation to align two sets of vector observations given putative correspondences, and is a fundamental routine in many computer vision and robotics applications. This…
We retrace Davenport's solution to Wahba's classic problem of aligning two pointclouds using the formalism of Geometric Algebra (GA). GA proves to be a natural backdrop for this problem involving three-dimensional rotations due to the…
All spacecraft attitude estimation methods are based on Wahba's optimization problem. This problem can be reduced to finding the largest eigenvalue and the corresponding eigenvector for Davenport's $K$-matrix. Several iterative algorithms,…
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…
A novel single-frame quaternion estimator processing two vector observations is introduced. The singular cases are examined, and appropriate rotational solutions are provided. Additionally, an alternative method involving sequential…
Given a newform f, we extend Howard's results on the variation of Heegner points in the Hida family of f to a general quaternionic setting. More precisely, we build big Heegner points and big Heegner classes in terms of compatible families…
We review the general problem of finding a global rotation that transforms a given set of points and/or coordinate frames (the "test" data) into the best possible alignment with a corresponding set (the "reference" data). For 3D point data,…
In (relativistic) electronic structure methods, the quaternion matrix eigenvalue problem and the linear response (Bethe-Salpeter) eigenvalue problem for excitation energies are two frequently encountered structured eigenvalue problems.…
Dual quaternion matrices have various applications in robotic research and its spectral theory has been extensively studied in recent years. In this paper, we extend Jacobi method to compute all eigenpairs of dual quaternion Hermitian…
Existing methods for rotation estimation between two spherical ($\mathbb{S}^2$) patterns typically rely on spherical cross-correlation maximization between two spherical function. However, these approaches exhibit computational complexities…
The hand-eye calibration problem is an important application problem in robot research. Based on the 2-norm of dual quaternion vectors, we propose a new dual quaternion optimization method for the hand-eye calibration problem. The dual…
We propose a new approach for the study of the quadratic stochastic Euclidean bipartite matching problem between two sets of $N$ points each, $N\gg 1$. The points are supposed independently randomly generated on a domain…
Quaternions, introduced by Hamilton in 1843 as a generalization of complex numbers, have found, in more recent years, a wealth of applications in a number of different areas which motivated the design of efficient methods for numerically…
We derive the solvability conditions and a formula of a general solution to a Sylvester-type matrix equation over Hamilton quaternions. As an application, we investigate the necessary and sufficient conditions for the solvability of the…
Quartic eigenvalue problem $(\lambda^4 A + \lambda^3 B + \lambda^2C + \lambda D + E)x = \mathbf{0}$ naturally arises e.g. when solving the Orr-Sommerfeld equation in the analysis of the stability of the {Poiseuille} flow, in theoretical…
In this paper, we first study the projections onto the set of unit dual quaternions, and the set of dual quaternion vectors with unit norms. Then we propose a power method for computing the dominant eigenvalue of a dual quaternion Hermitian…
This study establishes consistency conditions and a general solution for a coupled system that consists of five two-sided Sylvester-like tensor equations in ten quaternion variables throughout the Einstein tensor product. Certain specific…
Quadratic Unconstrained Binary Optimization (QUBO or UBQP) is concerned with maximizing/minimizing the quadratic form $H(J, \eta) = W \sum_{i,j} J_{i,j} \eta_{i} \eta_{j}$ with $J$ a matrix of coefficients, $\eta \in \{0, 1\}^N$ and $W$ a…
A novel framework for a unifying treatment of quaternion valued adaptive filtering algorithms is introduced. This is achieved based on a rigorous account of quaternion differentiability, the proposed I-gradient, and the use of augmented…
An exact, closed form solution to the scalar Yukawa system in four dimensions is presented. The formalism is used to state and prove a theorem on the initial value problem. The method also works for a general, iso-vector form of the…