CS 205 Mathematical Methods for Robotics and Vision - Chapter 4 docx

... 50 CHAPTER 4. FUNCTION OPTIMIZATION so that orthogonalityfor q becomes p p or p p (4. 19) This condition is called -conjugacy,or -orthogonality: if equation (4. 19) holds, then p and p are ... the procedure, due to Hestenes and Stiefel (Methods of conjugate gradients for solving linear systems,J. Res. Bureau National Standards, section B, Vol 49 , pp. 40 9 -4 36, 1952), which als...

Ngày tải lên: 14/08/2014, 11:20

... In other words, the curve-to-curve transformation from circle to ellipse is unique, but the point-to-pointtransformation is not. Matrices represent point-to-pointtransformations. The eigenvalue ... repeated for the last equation, therefore forcing , and so forth. In summary, the equation x x impliesthat , that is, that the vectors x x are linearly independent. For Hermitian matrices (an...

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... an algebraic or a differential linear problem. 3 CS 205 Mathematical Methods for Robotics and Vision Carlo Tomasi Stanford University Fall 2000 4 CHAPTER 1. INTRODUCTION 1.2 Syllabus Here is the ... want to understandrobotics or vision, youshould take classes in these subjects, since this course is not on robotics or vision. On the other hand, if you do plan to study...

Ngày tải lên: 14/08/2014, 11:20

... the equality ofleft- and right-hand side. When this process is finished, is in echelon form. In particular, if the matrix is square and if all columns have a pivot, then is upper-triangular. “Stop” ... from row 3 for both and c to yield , c c There is one zero row in the left-hand side, and the rank of and that of is , the number of nonzero rows. The residual system is (compatible)...

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... achieved, and let u be the corresponding vector u v with u , so that is the length of the corresponding b v . By theorems 2 .4. 1 and 2 .4. 2, u and v can be extended into orthonormal bases for R and R ... following components: for for When written as a function of the vector c, this is y c Notice that there is no other choice for y, which is therefore unique: minimum residual f...

Ngày tải lên: 14/08/2014, 11:20

... other hand, depend on the constants as follows: Im Re Im Re where Re, Im denote the real and imaginary part and where the two-argument function is defined as follows for if if if and if and and is ... have and Exercise: verifythatthis solution satisfies boththe differentialequation(6.22) and the initialvalueequation y y . Thus, the solutions to system (6.22) for and for have...

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... STATE ESTIMATION 89 k | k-1 ^ y H k x k | k-1 ^ x ^ k | k k | k P x ^ P k+1 | k k+1 | k propagatepropagate x ^ P k-1 | k-1 k-1 | k-1 y k y k-1 y k+1 k update k | k-1 P k-1 k+1 time Figure 7.2: ... “Kalman filter-based algorithms for estimating depth from image sequences,” InternationalJournal of Computer Vision, 3(3):20 9-2 36, September 1989; and T.J. Broida, S. Chandrashekhar, and R...

Ngày tải lên: 14/08/2014, 11:20

... collection of mathematical tools for both understandingand solving problems in robotics and computer vision. Several classes at Stanford cover the topics presented in this class, and do so in ... want to understandrobotics or vision, youshould take classes in these subjects, since this course is not on robotics or vision. On the other hand, if you do plan to study robotics,...

Ngày tải lên: 14/03/2014, 14:20

... the discrepancies between left- and right-hand sides of the equations. 3 .4. LEAST-SQUARES SOLUTION OF A HOMOGENEOUS LINEAR SYSTEMS 33 which is the projection of the right-hand side vector b onto the ... following components: for for When written as a function of the vector c, this is y c Notice that there is no other choice for y, which is therefore unique: minimum residual forces the...

Ngày tải lên: 10/08/2014, 02:20

... collection of mathematical tools for both understandingand solving problems in robotics and computer vision. Several classes at Stanford cover the topics presented in this class, and do so in ... want to understandrobotics or vision, youshould take classes in these subjects, since this course is not on robotics or vision. On the other hand, if you do plan to study robotics,...

Ngày tải lên: 10/08/2014, 02:20