K. Kanatani,
3D Rotations: Parameter Computation and Lie-Algebra based Optimization
CRC Press, Boca Raton, FL, U.S.A., June 2020.
ISBN 978-0-367-47133-0
184 pages.
CRC Webpage
- Introduction
- Geometry of Rotation
- Parameters of Rotation
- Triangulation
- Estimation of Rotation: Isotropic Noise
- Estimation of Rotation: Anisotropic Noise
- Derivative-based Optimization: Lie Algebra Method
- Reliability of Rotaion Computation
- Computing Projects
- Appendix A: Hamilton's Quaternion Algebra
- Appendix B: Topics of Linear Algebra
- Appendix C: Lie Groups and Lie Algebra