bonn-3D-cs
Source: https://www.youtube.com/playlist?list=PLyWhIjKEKFn9pb7tVFmZObpp2KhReb5wP
Author: Wolfgang Förstner
Motivation
- Integrating measurements from different viewpoints
- Observation of moving objects
Notation
| Notation | Description |
|---|---|
| $\mathcal{R}$ | rotation transformation |
| $\mathbf{R}$ | rotation matrix |
| $\mathcal{X} = \mathcal{X}(x, y) = \mathcal{X}(\mathbf{x})$ | 2D point given by the coordinates ($x, y$) |
| $\mathbf{x}$ | coordinate vector |
| $\mathbf{x}_2$ | coordinate vector with id 2 |
| ${}^2 \mathbf{x}$ | coordinate vector in coordinate system 2 |
| ${}_2 \mathbf{T}^1$ | active transformation that transforms point 1 to point 2 |
| ${}^w \mathbf{T}_b$ | passive transformation that transforms the point representation in CS $b$ to CS $w$ |