1
vote
1answer
97 views

Jacobian of exponential mapping in SO3/SE3

Following this post Jacobian matrix of the Rodrigues' formula (exponential map) What if I really need the Jacobian of the exponential mapping function in $\omega \neq 0$? Basically, I want to ...
0
votes
1answer
27 views

Is group of rigid body motion compact?

I believe that group of rigid body motion is not compact. I mean all transformations in $R^3$ that preserve distance. But I need to know how to proof it? From where I should start to prove it?
3
votes
2answers
539 views

Jacobian of Reprojection Error

I am writing a program to find the transformation between two sets of 3D points extracted from a moving stereo camera. I am using an 'out of the box' Levenberg-Marquardt implementation to find this ...
1
vote
2answers
291 views

Minimization on the Lie Group SO(3)

Refering to a question previously asked Jacobian matrix of the Rodrigues' formula (exponential map). It was suggested in one of the answer to only calculate simpler Jacobian ...
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votes
6answers
3k views

Jacobian matrix of the Rodrigues' formula (exponential map)

I am working an algorithm which is supposed to align a pair of images. The motion model, which describes the pose $p$ of an image (with respect to the second) in 3D space, is purely rotational. ...