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

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.Comment: 6 page

A Compact Formula for the Derivative of a 3-D Rotation in Exponential Coordinates

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

Special Lagrangian submanifolds of log Calabi-Yau manifolds

We study the existence of special Lagrangian submanifolds of log Calabi-Yau manifolds equipped with the complete Ricci-flat K\"ahler metric constructed by Tian-Yau. We prove that if $X$ is a Tian-Yau manifold, and if the compact Calabi-Yau manifold at infinty admits a single special Lagrangian, then $X$ admits infinitely many disjoint special Lagrangians. In complex dimension $2$, we prove that if $Y$ is a del Pezzo surface, or a rational elliptic surface, and $D\in |-K_{Y}|$ is a smooth divisor with $D^2=d$, then $X= Y\backslash D$ admits a special Lagrangian torus fibration, as conjectured by Strominger-Yau-Zaslow and Auroux. In fact, we show that $X$ admits twin special Lagrangian fibrations, confirming a prediction of Leung-Yau. In the special case that $Y$ is a rational elliptic surface, or $Y= \mathbb{P}^2$ we identify the singular fibers for generic data, thereby confirming two conjectures of Auroux. Finally, we prove that after a hyper-K\"ahler rotation, $X$ can be compactified to the complement of a Kodaira type $I_{d}$ fiber appearing as a singular fiber in a rational elliptic surface $\check{\pi}: \check{Y}\rightarrow \mathbb{P}^1$.Comment: 70 pages. Updates and improvements. To appear in Duke Mathematical Journa

A Primer on the Differential Calculus of 3D Orientations

The proper handling of 3D orientations is a central element in many optimization problems in engineering. Unfortunately many researchers and engineers struggle with the formulation of such problems and often fall back to suboptimal solutions. The existence of many different conventions further complicates this issue, especially when interfacing multiple differing implementations. This document discusses an alternative approach which makes use of a more abstract notion of 3D orientations. The relative orientation between two coordinate systems is primarily identified by the coordinate mapping it induces. This is combined with the standard exponential map in order to introduce representation-independent and minimal differentials, which are very convenient in optimization based methods

An averaging principle for diffusions in foliated spaces

Consider an SDE on a foliated manifold whose trajectories lay on compact leaves. We investigate the effective behavior of a small transversal perturbation of order $\varepsilon$. An average principle is shown to hold such that the component transversal to the leaves converges to the solution of a deterministic ODE, according to the average of the perturbing vector field with respect to invariant measures on the leaves, as $\varepsilon$ goes to zero. An estimate of the rate of convergence is given. These results generalize the geometrical scope of previous approaches, including completely integrable stochastic Hamiltonian system.Comment: Published at http://dx.doi.org/10.1214/14-AOP982 in the Annals of Probability (http://www.imstat.org/aop/) by the Institute of Mathematical Statistics (http://www.imstat.org

The space of essential matrices as a Riemannian quotient manifold

The essential matrix, which encodes the epipolar constraint between points in two projective views, is a cornerstone of modern computer vision. Previous works have proposed different characterizations of the space of essential matrices as a Riemannian manifold. However, they either do not consider the symmetric role played by the two views, or do not fully take into account the geometric peculiarities of the epipolar constraint. We address these limitations with a characterization as a quotient manifold which can be easily interpreted in terms of camera poses. While our main focus in on theoretical aspects, we include applications to optimization problems in computer vision.This work was supported by grants NSF-IIP-0742304, NSF-OIA-1028009, ARL MAST-CTA W911NF-08-2-0004, and ARL RCTA W911NF-10-2-0016, NSF-DGE-0966142, and NSF-IIS-1317788

Special Lagrangian submanifolds of log Calabi-Yau manifolds

We study the existence of special Lagrangian submanifolds of log Calabi-Yau manifolds equipped with the complete Ricci-flat Kähler metric constructed by Tian-Yau. We prove that if X is a Tian-Yau manifold, and if the compact Calabi-Yau manifold at infinty admits a single special Lagrangian, then X admits infinitely many disjoint special Lagrangians. In complex dimension 2, we prove that if Y is a del Pezzo surface, or a rational elliptic surface, and D∈|−KY| is a smooth divisor with D2=d, then X=Y∖D admits a special Lagrangian torus fibration, as conjectured by Strominger-Yau-Zaslow and Auroux. In fact, we show that X admits twin special Lagrangian fibrations, confirming a prediction of Leung-Yau. In the special case that Y is a rational elliptic surface, or Y=ℙ2 we identify the singular fibers for generic data, thereby confirming two conjectures of Auroux. Finally, we prove that after a hyper-Kähler rotation, X can be compactified to the complement of a Kodaira type Id fiber appearing as a singular fiber in a rational elliptic surface πˇ:Yˇ→ℙ1.https://arxiv.org/abs/1904.08363First author draf

Perturbation Theory for the Quantum Time-Evolution in Rotating Potentials

The quantum mechanical time-evolution is studied for a particle under the influence of an explicitly time-dependent rotating potential. We discuss the existence of the propagator and we show that in the limit of rapid rotation it converges strongly to the solution operator of the Schr\"odinger equation with the averaged rotational invariant potential.Comment: To appear in Proceedings of the Conference QMath-8 "Mathematical Results in Quantum Mechanics" Taxco, Mexico, December 200