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3 D Rigid Body Transformations A Comparison
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Robot Dynamics: Equations and Algorithms
homes.cs.washington.edustatic equilibrium and a composite rigid body in mo-tion at the outer end of the chain. Because of the need to solve a linear system of equations whose size grows with N, the algorithm was O(N3). For small N, the rst-order terms dominated the computation so that the result was quite e cient. The earliest known O(N) algorithm for forward dy-
Image Alignment and Stitching: A Tutorial
www.microsoft.comDec 10, 2006 · Name Matrix # D.O.F. Preserves: Icon translation h I t i 2×3 2 orientation +··· rigid (Euclidean) h R t i 2×3 3 lengths +··· similarity h sR t i 2×3 4 angles +··· affine h A i 2×3 6 parallelism +··· projective h H˜ i 3×3 8 straight lines Table 1: Hierarchy of 2D coordinate transformations. The 2 ×3 matrices are extended with ...