Related papers: The Gibbs Representation of 3D Rotations
Rotation representations are foundational in fields such as computer graphics, robotics, and machine learning, where precise and efficient modeling of 3D orientations is critical. This paper comprehensively investigates diverse…
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.…
The purpose of this paper is to show that the mathematical treatment of three dimensional rotations can be simplified, and its geometrical understanding improved, by using the Rodrigues' vector representation. We present a novel geometrical…
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.…
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 article introduces yet another representation of rotations in 3-space. The rotations form a 3-dimensional projective space, which fact has not been exploited in Computer Science. We use the four affine patches of this projective space…
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 Rotors are phasors where the imaginary number has been replaced by a oriented plane element of unit area called a unit bivector.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…
The general 4D rotation matrix is specialised to the general 3D rotation matrix by equating its leftmost top element (a00) to 1. Its associate matrix of products of the left-hand and right-hand quaternion components is specialised…
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…
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…
This paper presents an experimental study on the application of quaternions in several machine learning algorithms. Quaternion is a mathematical representation of rotation in three-dimensional space, which can be used to represent complex…
Many settings in machine learning require the selection of a rotation representation. However, choosing a suitable representation from the many available options is challenging. This paper acts as a survey and guide through rotation…
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…
In computational 3D geometric problems involving rotations, it is often that people have to convert back and forth between a rotational matrix and a rotation described by an axis and a corresponding angle. For this purpose, Rodrigues'…
We construct the quaternion algebra [10] "geometrically" by a three dimensional analogue of the classic two dimensional geometric description of the complex field. The algebraic description of the multiplication operation in three…
To each 4x4 matrix of reals another 4x4 matrix is constructed, the so-called associate matrix. This associate matrix is shown to have rank 1 and norm 1 (considered as a 16D vector) if and only if the original matrix is a 4D rotation matrix.…
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…
This paper proposes a representational model for grid cells. In this model, the 2D self-position of the agent is represented by a high-dimensional vector, and the 2D self-motion or displacement of the agent is represented by a matrix that…
We introduce a rotation-invariant representation of planar shapes. In particular, this representation encodes shapes as vectors such that the Euclidean distance between them serves as a valid shape distance. For standardized, star-shaped…
The purpose of this effort is to investigate if the use of quaternion mathematics can be used to better model and simulate the electromagnetic fields that occur from moving electromagnetic charges. One observed deficiency with the commonly…