Quaternion: Difference between revisions
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There are expressions for solving the eigenvalues of <math>M</math>. | There are expressions for solving the eigenvalues of <math>M</math>. | ||
== | ==Orientation-Frame Alignment Problem== | ||
An orientation frame are the columns of the <math>SO(3)</math> orientation matrix. | An orientation frame are the columns of the <math>SO(3)</math> orientation matrix. | ||
In this problem, we assume we have <math>n</math> paired orientation frames, <math>\{p_k\}</math> and <math>\{r_k\}</math> which we want to align using quaternion <math>q</math>. | In this problem, we assume we have <math>n</math> paired orientation frames, <math>\{p_k\}</math> and <math>\{r_k\}</math> which we want to align using quaternion <math>q</math>. | ||