Research
Special Unitary Parameterized Estimators of Rotation
arXiv:2411.13109v4 Announce Type: replace Abstract: This paper revisits the topic of rotation estimation through the lens of special unitary matrices. We begin by reformulating Wahba's problem using S
arXiv:2411.13109v4 Announce Type: replace Abstract: This paper revisits the topic of rotation estimation through the lens of special unitary matrices. We begin by reformulating Wahba's problem using SU(2) to derive multiple solutions that yield linear constraints on corresponding quaternion parameters. We then explore applications of these constraints by formulating efficient methods for related problems. Finally, from this theoretical foundation, we propose two novel continuous representations for learning rotations in neural networks. Extensive experiments validate the effectiveness of the proposed methods.
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Source: arXiv cs.RO | 2026-04-20