Related papers: The Gibbs Representation of 3D Rotations
In this work, we move beyond the traditional complex-valued representations, introducing more expressive hypercomplex representations to model entities and relations for knowledge graph embeddings. More specifically, quaternion embeddings,…
A new method to represent and approximate rotation matrices is introduced. The method represents approximations of a rotation matrix $Q$ with linearithmic complexity, i.e. with $\frac{1}{2}n\lg(n)$ rotations over pairs of coordinates,…
The algebra of fourvectors is described. The fourvectors are more appropriate than the Hamilton quaternions for its use in Physics and the sciences in general. The fourvectors embrace the 3D vectors in a natural form. It is shown the…
How to effectively represent camera pose is an essential problem in 3D computer vision, especially in tasks such as camera pose regression and novel view synthesis. Traditionally, 3D position of the camera is represented by Cartesian…
We introduce the concept of paravectors to describe the geometry of points in a three dimensional space. After defining a suitable product of paravectors, we introduce the concepts of biparavectors and triparavectors to describe line…
3D Convolutional Neural Networks are sensitive to transformations applied to their input. This is a problem because a voxelized version of a 3D object, and its rotated clone, will look unrelated to each other after passing through to the…
Correlation is a common technique for the detection of shifts. Its generalization to the multidimensional geometric correlation in Clifford algebras has been proven a useful tool for color image processing, because it additionally contains…
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…
Rotational symmetry plays a central role in physics, providing an elegant framework to describe how the properties of 3D objects -- from atoms to the macroscopic scale -- transform under the action of rigid rotations. Equivariant models of…
The use of vectorial parameterization to create geometrical representations in computational models has a large number of applications. One particular application is the calculation of the 3D rotational motion of rigid bodies, that could be…
Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear…
In this short paper, we review the Euler-Rodrigues formula for three-dimensional rotation via fractional powers of matrices. We derive the rotations by any angle through the spectral behavior of the fractional powers of the rotation matrix…
Projecting high-dimensional environment observations into lower-dimensional structured representations can considerably improve data-efficiency for reinforcement learning in domains with limited data such as robotics. Can a single generally…
3D scatterplots are a well-established plotting technique that can be used to represent data with three or more dimensions. On paper and computer monitors they are essentially two-dimensional projections of the three-dimensional Cartesian…
We present a novel approach for solving articulated inverse kinematic problems (e.g., character structures) by means of an iterative dual-quaternion and exponentialmapping approach. As dual-quaternions are a break from the norm and offer a…
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…
It is well known that a rigid motion of the Euclidean plane can be written as the composition of at most three reflections. It is perhaps not so widely known that a similar result holds for Euclidean space in any number of dimensions. The…
Correlation is a common technique for the detection of shifts. Its generalization to the multidimensional geometric correlation in Clifford algebras has proven a useful tool for color image processing, because it additionally contains…
A common representation of a three dimensional object in computer applications, such as graphics and design, is in the form of a triangular mesh. In many instances, individual or groups of triangles in such representation need to satisfy…
To represent real $m$-dimensional vectors, a positional vector system given by a non-singular matrix $M \in \mathbb{Z}^{m \times m}$ and a digit set $\mathcal{D} \subset \mathbb{Z}^m$ is used. If $m = 1$, the system coincides with the well…