Unformatted text preview: matrices Q . Additionally, if two singular values of the matrix B T A are nonzero but equal, then small perturbations in the data can create large changes in the matrix Q . See [1]. (c) A degenerate case and a case of gymbal lock are illustrated on the website. [1] Richard J. Hanson and Michael J. Norris, “Analysis of measurements based on the singular value decomposition,” SIAM J. Scientifc and Statistical Computing , 2(3):363373, 1981. [2] Kenichi Kanatani, “Analysis of 3d rotation ±tting,” IEEE Transactions on Pattern Analysis and Machine Intelligence , 16(5):543549, May 1994. [3] D.W. Eggert and A. Lorusso and R.B. Fisher, “Estimating 3d rigid body transformations: a comparison of four major algorithms,” Machine Learning and Applications , 9:272290, 1997....
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 Fall '11
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