2009/04/09 by Andriy Myronenko, Myronenko, Andriy, Xubo Song +1
Computer Science · Engineering · #Advanced Image and Video Retrieval Techniques #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Image and Object Detection Techniques #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.0904.1613
openalex publication_date 2009/04/09 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We show the closed-form solution to the maximization of trace(A'R), where A is given and R is unknown rotation matrix. This problem occurs in many computer vision tasks involving optimal rotation matrix estimation. The solution has been continuously reinvented in different fields as part of specific problems. We summarize the historical evolution of the problem and present the general proof of the solution. We contribute to the proof by considering the degenerate cases of A and discuss the uniqueness of R.