| 3D rotations |
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| • | How many
degrees of freedom are there? |
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| • | How do we
represent a rotation? |
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| – | Rotation matrix
(too many degrees of freedom) |
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| – | Euler angles
(e.g. yaw, pitch, and roll) |
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| – | Quaternions
(4-vector on unit sphere) |
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| • | Usually
involves non-linear optimization |
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