Explicit Jacobian for Pose3::between

release/4.3a0
Frank Dellaert 2013-04-05 13:10:20 +00:00
parent 620583f3c3
commit e0958c7bf9
2 changed files with 5 additions and 2 deletions

View File

@ -4728,7 +4728,10 @@ between
in its first argument,
\begin_inset Formula
\[
\frac{\partial\left(T_{1}^{^{-1}}T_{2}\right)}{\partial\xi_{1}}=-\Ad{T_{2}^{^{-1}}T_{1}}
\frac{\partial\left(T_{1}^{^{-1}}T_{2}\right)}{\partial\xi_{1}}=-\Ad{T_{2}^{^{-1}}T_{1}}=\left[\begin{array}{cc}
-R_{2}^{T}R_{1} & 0\\
R_{2}^{T}\left[t_{2}-t_{1}\right]_{\times}R_{1} & -R_{2}^{T}R_{1}
\end{array}\right]
\]
\end_inset
@ -5177,7 +5180,7 @@ Aligning 3D Scans
\end_layout
\begin_layout Standard
Below is the explanaition underlying Pose3.align, i.e.
Below is the explanation underlying Pose3.align, i.e.
aligning two point clouds using SVD.
Inspired but modified from CVOnline...
\end_layout

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