Day 5.3 - 1 i i p P i i v V Inverse Transformation...

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Homogeneous Representation 1/25/2012 11 every rigid-body transformation can be represented as a rotation followed by a translation in the same frame as a 4x4 matrix where R is a 3x3 rotation matrix and d is a 3x1 translation vector 1 0 0 0 d R T
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Homogeneous Representation 1/25/2012 12 in some frame i points vectors
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Unformatted text preview: 1 i i p P i i v V Inverse Transformation 1/25/2012 13 the inverse of a transformation undoes the original transformation if then 1 d R T 1 1 d R R T T T...
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Day 5.3 - 1 i i p P i i v V Inverse Transformation...

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