Decomposition of nD-rotations: Classification, properties and algorithm

In this paper, the decomposition of nD-rotations is studied. Using this decomposition, nD-rotations are classified and properties are underlined. A generalization of the algorithm previously presented by the authors to decompose nD-rotation into planar rotations is proposed. Since our framework includes experimental applications, we designed a method that is somewhat robust to noise. An alternate algorithm based on the Schur decomposition is investigated. A comparison between both methods is finally provided.

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