相关论文: Derivation of the Euler-Rodrigues formula for thre…

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…

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.…

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…

This paper revisits the little-known Gibbs-Rodrigues representation of rotations in a three-dimensional space and demonstrates a set of algorithms for handling it. In this representation the rotation is itself represented as a…

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…

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…

Denavit and Hartenberg-based methods, such as Cardan, Fick, and Euler angles, describe the position and orientation of an end-effector in three-dimensional (3D) space. However, these methods have a significant drawback as they impose a…

It is known that the groups of Euclidean rotations in dimension 3 (isometries of $S^2$), general Lorentz transformations in dimension 4 (Hyperbolic isometries in dimension 3), and screw motions in dimension 3 can be represented by the…

More than 150 years after their invention by Hamilton, quaternions are now widely used in the aerospace and computer animation industries to track the paths of moving objects undergoing three-axis rotations. It is shown here that they…

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.…

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…

Differential equations are derived which show how generalized Euler vector representations of the Euler rotation axis and angle for a rigid body evolve in time; the Euler vector is also known as a rotation vector or axis-angle vector. The…

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'…

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…

This article is an exhaustive revision of concepts and formulas related to quaternions and rotations in 3D space, and their proper use in estimation engines such as the error-state Kalman filter. The paper includes an in-depth study of the…

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…

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,…

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 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…

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…