Check the preview of 2nd version of this platform being developed by the open MLCommons taskforce on automation and reproducibility as a free, open-source and technology-agnostic on-prem platform.

A compact formula for the derivative of a 3-D rotation in exponential coordinates

lib:f54b5e4d4a90c811 (v1.0.0)

Authors: Guillermo Gallego,Anthony Yezzi
ArXiv: 1312.0788
Document:  PDF  DOI 
Abstract URL:

We present a compact formula for the derivative of a 3-D rotation matrix with respect to its exponential coordinates. A geometric interpretation of the resulting expression is provided, as well as its agreement with other less-compact but better-known formulas. To the best of our knowledge, this simpler formula does not appear anywhere in the literature. We hope by providing this more compact expression to alleviate the common pressure to reluctantly resort to alternative representations in various computational applications simply as a means to avoid the complexity of differential analysis in exponential coordinates.

Relevant initiatives  

Related knowledge about this paper Reproduced results (crowd-benchmarking and competitions) Artifact and reproducibility checklists Common formats for research projects and shared artifacts Reproducibility initiatives


Please log in to add your comments!
If you notice any inapropriate content that should not be here, please report us as soon as possible and we will try to remove it within 48 hours!