A geometric algebra solution to the absolute orientation problem

DOI10.1007/978-3-031-55985-3_5MaRDI QIDQ6616701

Joan Lasenby, Charalampos Matsantonis

Publication date: 9 October 2024

zbMATH Keywords

geometric algebraorthogonal transformationsrigid body transformationcharacteristic multivectorsabsolute orientation

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Eigenvalues, singular values, and eigenvectors (15A18) Robot dynamics and control of rigid bodies (70E60) Clifford algebras, spinors (15A66) Applications of Clifford algebras to physics, etc. (15A67)

Cites Work

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• Matrix eigensystem routines - EISPACK guide. 2nd ed
• Matrix eigensystem routines. EISPACK guide extension
• Mémoire sur les formes bilinéaires.
• Clifford multivector toolbox (for MATLAB)
• Calculation of elements of spin groups using method of averaging in Clifford's geometric algebra
• A principal axis transformation for non-Hermitian matrices.
• An introduction to geometric algebra with an application in rigid body mechanics
• LAPACK Users' Guide
• Calculating the Singular Values and Pseudo-Inverse of a Matrix

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