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 . (c) A degenerate case and a case of gymbal lock are illustrated on the website.  Richard J. Hanson and Michael J. Norris, “Analysis of measurements based on the singular value decomposition,” SIAM J. Scientifc and Statistical Computing , 2(3):363-373, 1981.  Kenichi Kanatani, “Analysis of 3-d rotation ±tting,” IEEE Transactions on Pattern Analysis and Machine Intelligence , 16(5):543-549, May 1994.  D.W. Eggert and A. Lorusso and R.B. Fisher, “Estimating 3-d rigid body trans-formations: a comparison of four major algorithms,” Machine Learning and Appli-cations , 9:272-290, 1997....
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- Fall '11