Category Archives: Computer Vision

Matrix exponential to the Rodrigues' rotation formula

Last time we have seen where the formula came from and today I will try to describe how to do the matrix exponential by means of sine and cosine of the rotation angle and some multiplication and addition. As we will see … Continue reading

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Rotation matrix to angle-axis

This time I'm gonna go through a process of extracting rotation axis and angle from the rotation matrix . Lets recap some properties of the rotation matrix that we will be using. Is a square matrix. Is normalized, column and row vectors … Continue reading

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Rotation matrix from exponential twist

Last time I described how to derive a geometric derivation of the the famous Rodrigues' rotation formula. While being quite easy to understand there is another way how to get the rotation matrix from the angle-axis representation.  The approach I'm gonna … Continue reading

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Rodrigues' rotation formula

In many areas of robotics, computer vision and graphic is a need to rotate points or objects by certain angle around a given axis. One way to do it is to use Rodrigue's rotation formula. Where the is a skew … Continue reading

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