Abstract
In this work, we present a novel approach to nonlinear optimization of multivectors in the Euclidean and conformal model of geometric algebra by introducing automatic differentiation. This is used to compute gradients and Jacobian matrices of multivector valued functions for use in nonlinear optimization where the emphasis is on the estimation of rigid body motions.
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Tingelstad, L., Egeland, O. Automatic Multivector Differentiation and Optimization. Adv. Appl. Clifford Algebras 27, 707–731 (2017). https://doi.org/10.1007/s00006-016-0722-6
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DOI: https://doi.org/10.1007/s00006-016-0722-6