Minimax Principle for Eigenvalues of Dual Quaternion Hermitian Matrices and Generalized Inverses of Dual Quaternion Matrices
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Publication:6084035
dual quaternion matrixdual quaternion vectoreigenvaluegeneralized inverselinear independenceminimax principle
Theory of matrix inversion and generalized inverses (15A09) Eigenvalues, singular values, and eigenvectors (15A18) Applications of Clifford algebras to physics, etc. (15A67) Hermitian, skew-Hermitian, and related matrices (15B57) Differential geometric aspects in kinematics (53A17) Computational issues in computer and robotic vision (65D19)
Abstract: Dual quaternions can represent rigid body motion in 3D spaces, and have found wide applications in robotics, 3D motion modelling and control, and computer graphics. In this paper, we introduce three different right linear independency for a set of dual quaternion vectors, and study some related basic properties for the set of dual quaternion vectors and dual quaternion matrices. We present a minimax principle for right eigenvalues of dual quaternion Hermitian matrices. Based upon a newly established Cauchy-Schwarz inequality for dual quaternion vectors and singular value decomposition of dual quaternion matrices, we propose an important inequality for singular values of dual quaternion matrices. We finally introduce the concept of generalized inverse of dual quaternion matrices, and present the necessary and sufficient conditions for a dual quaternion matrix to be one of four types of generalized inverses of another dual quaternion matrix.
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Cites work
- A characterization and representation of the generalized inverse \(A_{T,S}^{(2)}\) and its applications
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- scientific article; zbMATH DE number 7668291 (Why is no real title available?)
- JORDAN CANONICAL FORM OF A PARTITIONED COMPLEX MATRIX AND ITS APPLICATION TO REAL QUATERNION MATRICES
- On the comparisons of unit dual quaternion and homogeneous transformation matrix
- Quaternions and matrices of quaternions
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- Some Metric Inequalities in the Space of Matrices
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Cited in
(21)- Standard dual quaternion optimization and its applications in hand-eye calibration and SLAM
- Spectral norm and von Neumann type trace inequality for dual quaternion matrices
- Dual quaternion matrices and MATLAB applications
- Algebraic method for LU decomposition of dual quaternion matrix and its corresponding structure-preserving algorithm
- Linear convergence of the Collatz method for computing the Perron eigenpair of a primitive dual number matrix
- Improved power methods for computing eigenvalues of dual quaternion Hermitian matrices
- Dual quaternion matrix formulation for robust 3D point cloud registration
- A novel Moore-Penrose inverse to dual quaternion matrices with applications
- Dual quaternion QR decompositon and its corresponding complex structure-preserving algorithms
- Novel structure-preserving method for the dual quaternion LU decomposition and its applications
- A metric function for dual quaternion matrices and related least-squares problems
- Eigenvalues and Jordan forms of dual complex matrices
- QR decomposition of dual quaternion matrix and blind watermarking scheme
- Dual complex adjoint matrix and applications to hand-eye calibration and multi-agent formation control
- Three-step Jacobi method for computing eigenvalues of dual quaternion Hermitian matrices
- Dual quaternion matrices in precise formation flying of satellite clusters
- Complex structure-preserving algorithm for LU decomposition of dual quaternion matrices and its application
- A dual quaternion control law for formation control of multiple 3-D rigid bodies
- Solutions of the dual quaternion matrix equation AXB = C
- Multi-camera robot-world hand-eye calibration by solving multi-unit dual quaternion equations
- Dual DMP generalized inverses of dual matrices and their applications in linear dual equations
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