Timeline for In SLAM loop closure, What does a sim3 matrix do?
Current License: CC BY-SA 4.0
4 events
| when toggle format | what | by | license | comment | |
|---|---|---|---|---|---|
| Oct 6, 2021 at 3:23 | comment | added | Gurumonster | Apologize for not being able to comment. I have a question about @edwinem's answer. The result of the first row after multiplying the vector with the Sim3 matrix should be $$ r_{11}*x + r_{12}*y + r_{13}*z + t_1 $$ There is no $s$ in the first row. If we multiply the vector $X = [p; 1]$, where $p=[x, y, z]$, by the rigid affine transformation, the result is $$ [sRp+t; 1]. $$ Meanwhile, the multiplication between X and the Sim(3) matrix is $$[R*p+t; s^{-1}] \approx [s*R*p+s*t; 1]$$ The difference between the two results above is not by scale. Did I miss anything? | |
| Jul 1, 2020 at 14:17 | vote | accept | Vinmean | ||
| Jun 30, 2020 at 8:31 | history | edited | edwinem | CC BY-SA 4.0 | added 326 characters in body |
| Jun 30, 2020 at 8:16 | history | answered | edwinem | CC BY-SA 4.0 |