Decomposition of nD-rotations: Classification, properties and algorithm

Aurélie Richard (1) , Laurent Fuchs (1) , Eric Andres (1) , Gaëlle Largeteau-Skapin (1)

1 SIC

In this paper, the decomposition of nD-rotations is studied. Using this decomposition, nD-rotations are classified and properties are underlined. A generalization of the algorithm previously presented by the authors to decompose nD-rotation into planar rotations is proposed. Since our framework includes experimental applications, we designed a method that is somewhat robust to noise. An alternate algorithm based on the Schur decomposition is investigated. A comparison between both methods is finally provided.

Mots clés: n-dimensional rotations; Planar rotations; Cartan-Dieudonné theorem; Schur decomposition; Classification of nD-rotation

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]

Aurélie Richard, Laurent Fuchs, Eric Andres, Gaëlle Largeteau-Skapin. Decomposition of nD-rotations: Classification, properties and algorithm. Graphical Models, 2011, 73 (6), pp.346-353. ⟨10.1016/j.gmod.2011.06.004⟩. ⟨hal-00713697⟩