Minimization on the Lie Group SO(3) and Related Manifolds

Camillo J. Taylor, David J. Kriegman

Yale Center For Systems Science Technical Report 9405, April, 1994


This paper presents a novel approach to carrying out numerical minimization procedures on the Lie Group SO(3) and related manifolds. The approach constructs a sequence of local parameterizations of the manifold SO(3) rather than relying on a single global parameterization such as Euler angles. Thus, the problems caused by the singularities in these global parameterizations are avoided.