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Plücker embedding

In mathematics, the Plücker embedding is a canonical morphism that realizes the Grassmannian \mathrm{Gr}(k, n), the moduli space of all k-dimensional linear subspaces of an n-dimensional vector space over \mathbb{R} or \mathbb{C}, as a closed subvariety of the projective space \mathbb{P}^{\binom{n}{k} - 1}.^[1] It maps each k-subspace, represented by a k \times n matrix A of full rank, to the projective point given by the wedge product of the rows of A, or equivalently, by the Plücker coordinates consisting of all \binom{n}{k} maximal k \times k minors of A.^[2] These coordinates satisfy a system of homogeneous quadratic equations known as the Plücker relations, which define the image of the embedding as an algebraic variety of dimension k(n-k).^[1] Originally introduced by the German mathematician Julius Plücker in the mid-19th century as a method to coordinatize lines in three-dimensional projective space—corresponding to the special case \mathrm{Gr}(2, 4)—the construction generalizes to higher-dimensional subspaces and plays a foundational role in algebraic geometry, enumerative geometry, and representation theory.^[3] Plücker developed this in his 1868 work Neue Geometrie des Raumes, where line coordinates (now called Plücker coordinates) were used to embed the space of lines as a quadric hypersurface in five-dimensional projective space.^[3] The embedding is smooth and injective, ensuring that the Grassmannian inherits a projective structure, and it facilitates the study of Schubert calculus and intersection theory on Grassmannians.^[2]^[4]

Introduction

Definition

The Plücker embedding is a canonical embedding of the Grassmannian \mathrm{Gr}(k, n), the moduli space of k-dimensional subspaces of an n-dimensional vector space V, into the projective space \mathbb{P}^{\binom{n}{k} - 1}.^[2] This map arises from the exterior algebra \wedge^\bullet V, where for a subspace W \subset V with basis \{w_1, \dots, w_k\}, the image is the projective class of the decomposable element w_1 \wedge \cdots \wedge w_k \in \wedge^k V.^[2] The embedding motivates a coordinate system for elements of the Grassmannian, enabling algebraic study of these subspaces as points in projective space.^[1] A prominent application parametrizes lines in three-dimensional projective space, corresponding to the case \mathrm{Gr}(2, 4), which embeds into \mathbb{P}^5.^[3] Julius Plücker introduced the foundational ideas in the 19th century, developing homogeneous coordinates for lines in his work on line geometry.^[3]

Historical context

The foundations of the Plücker embedding trace back to the mid-19th century, when Julius Plücker pioneered line geometry within projective space. In 1846, Plücker proposed treating straight lines as the primary elements of three-dimensional space, rather than points or planes, in the preface to his textbook System der Geometrie des Raumes. This shift laid the groundwork for representing lines via coordinates. Building on this, Plücker resumed geometric research in 1865 after a decade focused on physics, culminating in the 1868 publication of the first volume of Neue Geometrie des Raumes, gegründet auf die Betrachtung der geraden Linie als Raumelement, where he systematically developed coordinates for lines—later termed Plücker coordinates—as a tool for embedding the space of all lines into a projective framework.^[5]^[3]^[6] Plücker's innovations in line geometry exerted significant influence on subsequent developments, particularly through his student Felix Klein. Klein collaborated with Plücker from 1866, managing experimental demonstrations and aiding in the completion of the unfinished second volume of Neue Geometrie des Raumes, published in 1869. This partnership shaped Klein's 1872 Erlangen Program, a seminal classification of geometries by their underlying transformation groups, in which Plücker's line geometry served as a central illustration of projective geometry applied to lines as fundamental objects in a four-dimensional space.^[7]^[8] The program further linked Plücker's coordinate system to invariant theory, extending his earlier 1839 contributions on invariants of algebraic curves—such as order and class—into a broader study of properties preserved under projective transformations.^[3]^[9] The 20th century brought algebraic rigor to the Plücker embedding through advancements in modern algebraic geometry. In 1937, Wei-Liang Chow and Bartel Leendert van der Waerden established the Chow variety, a projective space parameterizing effective algebraic cycles of fixed dimension and degree, using homogeneous coordinates that generalize Plücker's method for linear subspaces like those in Grassmannians. Their framework proved that such cycles form a projective variety, providing a formal embedding theorem that solidified Plücker's classical construction within the abstract machinery of algebraic varieties.^[10]^[11] This formalization highlighted the embedding's role in representing higher-dimensional geometric objects projectively, influencing subsequent work in intersection theory and scheme theory.^[12]

Prerequisites

Grassmannians

The Grassmannian, denoted \mathrm{Gr}(k, n), is the set of all k-dimensional linear subspaces of an n-dimensional vector space over \mathbb{R} or \mathbb{C}.^[13] It carries a natural topology that makes it a compact smooth manifold of real dimension $2k(n-k) in the complex case or k(n-k) in the real case.^[13]^[14] The dimension of \mathrm{Gr}(k, n) is given by the formula \dim(\mathrm{Gr}(k, n)) = k(n - k), which arises from the degrees of freedom in choosing a basis for the subspace modulo the action of the general linear group \mathrm{GL}(k).^[14]^[15] A fundamental example is \mathrm{Gr}(1, n), which is diffeomorphic to the projective space \mathbb{P}^{n-1} and parametrizes the 1-dimensional subspaces (lines through the origin) in \mathbb{R}^n or \mathbb{C}^n.^[13] Another illustrative case is \mathrm{Gr}(2, 4), which parametrizes the set of lines in the 3-dimensional projective space \mathbb{P}^3.^[16]^[15] Grassmannians provide the geometric domain for embeddings into projective spaces, such as the Plücker embedding.^[13]

Projective space

In algebraic geometry, the projective space \mathbb{P}^m over the real numbers \mathbb{R} or complex numbers \mathbb{C} is defined as the set of all lines through the origin in the vector space \mathbb{R}^{m+1} or \mathbb{C}^{m+1}, respectively.^[17] Each point in \mathbb{P}^m corresponds to a one-dimensional subspace, excluding the origin itself, and can be represented using homogeneous coordinates [x_0 : x_1 : \dots : x_m], where not all x_i = 0 and the coordinates are defined up to scalar multiplication by a nonzero element \lambda \in \mathbb{R}^\times or \mathbb{C}^\times.^[17] This scaling invariance ensures that [x_0 : \dots : x_m] = [\lambda x_0 : \dots : \lambda x_m] for \lambda \neq 0, providing a compact way to describe directions or ratios without absolute scale.^[18] The structure of \mathbb{P}^m as a manifold or variety is obtained by covering it with affine charts. For each index i = 0, \dots, m, the open set U_i = \{ [x_0 : \dots : x_m] \in \mathbb{P}^m \mid x_i \neq 0 \} is isomorphic to the affine space \mathbb{A}^m, with coordinates given by the ratios y_j = x_j / x_i for j \neq i.^[17] Transition functions between overlapping charts U_i and U_j (where x_i \neq 0 and x_j \neq 0) are rational maps ensuring compatibility, such as y_k^{(i)} = y_k^{(j)} \cdot y_i^{(j)} on U_i \cap U_j, which glue the charts into a cohesive space.^[18] These charts provide a local affine description, making \mathbb{P}^m a smooth projective variety of dimension m. Projective varieties are closed subvarieties of \mathbb{P}^N for some N, defined as the common zero loci of a collection of homogeneous polynomials in the coordinates [z_0 : \dots : z_N].^[17] Embeddings of abstract varieties into \mathbb{P}^N arise via morphisms given by systems of homogeneous polynomials of the same degree, mapping the variety isomorphically onto its image as a projective subvariety.^[17] Such embeddings, often constructed using complete linear systems of line bundles, serve as the target space for representing geometric objects algebraically.^[18]

Plücker Coordinates

Construction

The Plücker coordinates of a k-dimensional subspace of \mathbb{R}^n are derived from a choice of basis for that subspace. Consider a k-plane \Lambda spanned by linearly independent vectors v_1, \dots, v_k \in \mathbb{R}^n. Form the k \times n matrix M whose rows are these vectors, so M = \begin{pmatrix} v_1 \\ \vdots \\ v_k \end{pmatrix}. The Plücker coordinates \{p_I\}, where I ranges over all increasing multi-indices I = (i_1 < i_2 < \dots < i_k) with $1 \leq i_j \leq n, are defined as the k \times k minors of M: specifically, p_I = \det(M_I), where M_I is the submatrix of M consisting of the columns indexed by I.^[19]^[2] These coordinates are independent of the choice of basis for \Lambda, up to scalar multiple, because replacing the basis with another via a \mathrm{GL}(k, \mathbb{R})-transformation multiplies the wedge product v_1 \wedge \dots \wedge v_k by \det(\mathrm{GL}), preserving the projective equivalence. In the exterior algebra \bigwedge^k \mathbb{R}^n, which has dimension \binom{n}{k}, the element v_1 \wedge \dots \wedge v_k is a decomposable k-vector (simple wedge), and its components in the standard basis \{e_{i_1} \wedge \dots \wedge e_{i_k}\} are precisely these Plücker coordinates p_I. This decomposability condition distinguishes the image of the Grassmannian under the Plücker embedding.^[19]^[2]

Homogeneous representation

In the Plücker embedding, the coordinates p_I, where I ranges over all increasing k-tuples from \{1, \dots, n\}, serve as homogeneous projective coordinates for points in the projective space \mathbb{P}^{\binom{n}{k} - 1}.^[2]^[19] These coordinates arise from the maximal minors of a matrix whose columns span a k-dimensional subspace of \mathbb{K}^n, and they are well-defined up to nonzero scalar multiplication, ensuring that the embedding is projective.^[1] The homogeneity of the Plücker coordinates reflects their invariance under changes of basis for the spanning subspace. Specifically, if a new basis is obtained by applying a matrix A \in \mathrm{GL}(k, \mathbb{K}) to the original basis vectors, the resulting wedge product scales by \det(A), preserving the projective equivalence class [p_I].^[2]^[1] This property guarantees that the coordinates depend only on the subspace itself, not on the choice of basis, making the embedding canonical.^[19] To obtain affine coordinates on open subsets of the Grassmannian, normalization is applied by selecting a fixed multi-index I_0 where p_{I_0} \neq 0 and setting p_{I_0} = 1, thereby defining an affine chart where the remaining coordinates p_I / p_{I_0} provide local polynomial coordinates.^[1] These charts cover the Grassmannian, facilitating computations in the embedded variety. A prominent example occurs for the Grassmannian \mathrm{Gr}(2,4), which parametrizes lines in \mathbb{P}^3 and embeds into \mathbb{P}^5 via six Plücker coordinates p_{12}, p_{13}, p_{14}, p_{23}, p_{24}, p_{34}.^[2]^[19] Here, the homogeneous coordinates encode the 2-dimensional subspaces of \mathbb{K}^4 corresponding to these lines, with the projective invariance ensuring a unique representation up to scalar.^[1]

The Embedding Map

Definition of the map

The Plücker embedding is formally defined as a morphism \phi: \mathrm{Gr}(k,n) \to \mathbb{P}^{\binom{n}{k}-1}, where \mathrm{Gr}(k,n) denotes the Grassmannian parametrizing k-dimensional subspaces of an n-dimensional vector space over \mathbb{C}, and the map sends each such subspace V to the point in projective space corresponding to its Plücker coordinates in the projectivization of the k-th exterior power \bigwedge^k V.^[20] This construction associates to V the line \bigwedge^k V \subset \bigwedge^k \mathbb{C}^n, with homogeneous coordinates given by the images under the canonical basis of \bigwedge^k \mathbb{C}^n.^[20] To specify the map explicitly, choose a basis for V given by the rows of a k \times n matrix A of full rank; then \phi(V) has coordinates p_I = \det(A_I) for each increasing multi-index I = (i_1 < \cdots < i_k) with $1 \leq i_j \leq n, where A_I is the k \times k submatrix of A consisting of columns indexed by I.^[16] These coordinates are well-defined up to scalar multiple, independent of the choice of basis for V, due to the multilinearity of the determinant and the alternating property of the exterior product.^[20] The map \phi is a morphism of algebraic varieties because the Plücker coordinates are polynomial functions in the entries of A, and the Grassmannian admits an open dense covering by affine charts where A has full rank, making the functions regular on these sets.^[20] Moreover, \phi extends to a closed embedding, ensuring it is injective and identifies \mathrm{Gr}(k,n) with its image as a projective subvariety.^[16] A classical example occurs for k=2, n=4, where \mathrm{Gr}(2,4) parametrizes lines in \mathbb{P}^3 and embeds injectively into \mathbb{P}^5.^[16]

Image in projective space

The Plücker embedding realizes the Grassmannian \mathrm{Gr}(k,n) as a closed subvariety of the projective space \mathbb{P}^N, where N = \binom{n}{k} - 1. The image \phi(\mathrm{Gr}(k,n)) is a non-degenerate subvariety, meaning it is not contained in any hyperplane of the ambient space, and has dimension k(n-k).^[16]^[2] This embedded Grassmannian is smooth, inheriting the manifold structure of \mathrm{Gr}(k,n) through the embedding, which is an isomorphism onto its image.^[16]^[1] A prominent example occurs for \mathrm{Gr}(2,4), where the image under the Plücker embedding is the Klein quadric, a smooth quadric hypersurface in \mathbb{P}^5.^[21]^[16]

Plücker Relations

Quadratic equations

The Plücker relations arise from the Grassmann–Plücker identity in the exterior algebra and provide the explicit quadratic equations that the Plücker coordinates must satisfy to lie in the image of the embedding. These relations express the condition that the coordinates correspond to decomposable multivectors, ensuring the embedding maps into a quadratic hypersurface in projective space. For the Grassmannian \mathrm{Gr}(k,n), the coordinates p_I, where I is a k-subset of \{1, \dots, n\}, obey homogeneous quadratic equations derived from the wedge product structure. The general form of a Plücker relation is given by choosing strictly increasing index sets \{i_1 < \dots < i_{k-1}\} and \{j_1 < \dots < j_{k+1}\}, yielding

\sum_{t=1}^{k+1} (-1)^t \, p_{i_1 \dots i_{k-1} \, j_t} \, p_{j_1 \dots \hat{j}_t \dots j_{k+1}} = 0,

where the indices in each p term are reordered to be increasing, and \hat{j}_t denotes omission of j_t. This equation equates the product of two coordinates whose index sets overlap appropriately to a signed sum over replacements that adjust the overlap by exchanging one index. There are \dbinom{n}{k-1} \dbinom{n}{k+1} such basic relations, one for each choice of the index sets, though they are subject to linear dependencies among themselves.^[1] These quadratic forms define the ideal of the embedded Grassmannian, with the independent relations spanning a vector space whose dimension equals the dimension of degree-2 part of the ideal, given by \dbinom{\dbinom{n}{k} + 1}{2} - \dim H^0(\mathrm{Gr}(k,n), \mathcal{O}(2)). The latter term is the space of global sections of the degree-2 line bundle under the Plücker embedding, computable via representation theory as \frac{1}{k+1} \dbinom{n}{k} \dbinom{n+1}{k}. A concrete example occurs in \mathrm{Gr}(2,4), the Grassmannian of lines in \mathbb{P}^3, embedded in \mathbb{P}^5 via six Plücker coordinates p_{ij} for $0 \leq i < j \leq 3. The single independent quadratic relation is

p_{01} p_{23} - p_{02} p_{13} + p_{03} p_{12} = 0.

This hypersurface equation, known as the Klein quadric, cuts out the image of the embedding.^[22]

Role in defining the variety

The Plücker relations, which are quadratic polynomials in the Plücker coordinates, generate the homogeneous ideal of the embedded Grassmannian \mathrm{Gr}(k,n) in projective space \mathbb{P}^{\binom{n}{k}-1}. This ideal, known as the Plücker ideal, is prime, ensuring that the variety is irreducible and that the embedding realizes the Grassmannian projectively as a closed subvariety defined set-theoretically and scheme-theoretically by these quadrics.^[23]^[24] The relations provide a complete characterization of the image of the Plücker embedding: every decomposable k-vector in \bigwedge^k \mathbb{C}^n satisfies the Plücker relations, and conversely, every point in the variety corresponds to the Plücker coordinates of such a decomposable k-vector up to scalar multiple. This completeness ensures that the zero locus of the ideal precisely cuts out the embedded Grassmannian without extraneous components.^[2] The Plücker ideal relates closely to determinantal varieties, as the Grassmannian parametrizes the k-minors of generic k \times n matrices, and the relations arise from rank conditions on these minors. The minimal free resolution of the coordinate ring is given by the Eagon-Northcott complex, which describes the syzygies among the generators, highlighting the determinantal structure of the ideal.^[25]

Properties

Dimension and degree

The Plücker embedding realizes the Grassmannian \mathrm{Gr}(k,n) as a smooth projective algebraic variety of dimension k(n-k) inside \mathbb{P}^{\binom{n}{k}-1}.^[16] This dimension equals the manifold dimension of \mathrm{Gr}(k,n), as the embedding is an isomorphism onto its image, preserving the local structure of the space of k-planes in \mathbb{C}^n or \mathbb{R}^n.^[16] The degree of the embedded Grassmannian, which quantifies its complexity as an algebraic variety, is determined by the hook-length formula applied to the rectangular Young diagram of shape (n-k)^k.^[20] Specifically,

\deg \mathrm{Gr}(k,n) = \frac{[k(n-k)]!}{\prod_{i=1}^k \prod_{j=1}^{n-k} h_{i,j}},

where h_{i,j} = n - i - j + 1 is the hook length at position (i,j) in the diagram.^[20] This integer counts the number of standard Young tableaux filling the diagram and serves as an enumerative invariant, representing the number of intersection points of the variety with a general linear subspace of complementary dimension.^[20] A concrete illustration occurs for \mathrm{Gr}(2,4), whose Plücker embedding yields the Klein quadric in \mathbb{P}^5, a hypersurface of degree $2$.^[26]

Geometric interpretations

The Plücker coordinates of a k-dimensional subspace V of an n-dimensional vector space E are given by the maximal k \times k minors \Delta_I(V) of a matrix whose rows form a basis for V, where I is a multi-index of length k from \{1, \dots, n\}. These minors represent the oriented volumes (up to sign and scaling) of the parallelepipeds formed by projecting the basis vectors of V onto the coordinate k-planes spanned by the standard basis vectors \{e_i \mid i \in I\}.^[27] For example, in the case of lines in three-dimensional projective space (k=2, n=4), the coordinates include signed areas of projections onto the coordinate planes, providing a geometric measure of the subspace's orientation and position relative to the axes.^[27] The Plücker relations, which are quadratic equations satisfied by these coordinates, admit geometric interpretations as conditions ensuring the coordinates arise from a simple (decomposable) multivector, corresponding to actual subspaces. In the specific case of lines in 3-dimensional projective space, the Plücker coordinates (P_{01}:P_{02}:P_{03}:P_{23}:P_{31}:P_{12}) lie on the Klein quadric defined by P_{01}P_{23} + P_{02}P_{31} + P_{03}P_{12} = 0, which enforces the self-orthogonality \omega \cdot v = 0 between the direction vector \omega and moment vector v. More broadly, these coordinates facilitate linear incidence conditions: two lines intersect if their coordinates ( \omega : v ) and ( \omega' : v' ) satisfy the bilinear form \omega \cdot v' + \omega' \cdot v = 0, while lines lying in a fixed plane form a \beta-plane in the Klein quadric, representing coplanarity. The Plücker embedding exhibits a natural duality, identifying the Grassmannian \mathrm{Gr}(k,n) with its dual \mathrm{Gr}(n-k,n) via the orthogonal complement map on subspaces. Under this isomorphism, the embedding of \mathrm{Gr}(k,n) into \mathbb{P}(\wedge^k \mathbb{C}^n) corresponds to that of \mathrm{Gr}(n-k,n) into \mathbb{P}(\wedge^{n-k} \mathbb{C}^n) \cong \mathbb{P}((\wedge^k \mathbb{C}^n)^*), linked by the natural pairing between exterior powers that contracts multivectors to scalars.^[1] This duality interchanges k-planes with their annihilators, preserving the projective variety structure defined by the Plücker relations.^[1]

Applications

In algebraic geometry

In modern algebraic geometry, the Plücker embedding plays a central role in compactifying configuration spaces through the construction of Chow quotients of Grassmannians. For the Grassmannian \mathrm{Gr}(k,n), which parametrizes k-dimensional subspaces of \mathbb{C}^n, the embedding into \mathbb{P}^{\binom{n}{k}-1} via Plücker coordinates allows the definition of the Chow variety parametrizing cycles of a fixed degree and dimension. The Chow quotient \mathrm{Gr}(k,n) // (\mathbb{C}^*)^n, obtained by quotienting by the action of the torus scaling coordinates, serves as a compactification of the configuration space of n ordered points in \mathbb{P}^{k-1} in general position. In particular, for k=2, this quotient is isomorphic to the Deligne-Mumford compactification \overline{\mathcal{M}}_{0,n} of the moduli space of n points on \mathbb{P}^1, providing a projective variety that resolves singularities arising from coinciding points in the open configuration space \mathrm{Conf}_n(\mathbb{C}). This construction, introduced by Kapranov, highlights the embedding's utility in moduli theory by embedding the non-compact configuration space into a toric variety whose boundary strata correspond to degenerations into rational curves with marked points.^[28]^[29] The Plücker embedding further facilitates Schubert calculus on Grassmannians by enabling the algebraic study of intersections of Schubert varieties within the projective space. Schubert varieties in \mathrm{Gr}(k,n) are defined by incidence conditions with respect to a fixed flag, and their closures under the embedding satisfy the Plücker relations, allowing intersection numbers to be computed via the cohomology ring. This embedding realizes the Grassmannian as a projective variety, where the degrees of Schubert classes can be determined using the very ample line bundle induced by the embedding, leading to explicit formulas for structure constants in the product of Schubert classes. For instance, the Pieri rule for multiplying a Schubert class by a Chern class of the tautological quotient bundle translates directly into combinatorial rules on Young diagrams, with the embedding ensuring these products remain within the ring generated by such classes. This approach, foundational in enumerative geometry, computes invariants like the number of lines intersecting given curves in projective space through the geometry of the embedded Grassmannian.^[30]^[20] Additionally, the Plücker embedding is intimately linked to the tautological bundles on the Grassmannian, influencing the structure of its cohomology ring. The tautological subbundle S \subset \mathbb{C}^n \times \mathrm{Gr}(k,n) consists of pairs (\Sigma, v) with v \in \Sigma, while the quotient bundle Q fits into the exact sequence $0 \to S \to \mathbb{C}^n \times \mathrm{Gr}(k,n) \to Q \to 0. The Plücker line bundle is \bigwedge^k S^\vee \cong \bigwedge^{n-k} Q, whose global sections generate the homogeneous coordinate ring under the embedding, making it very ample. The cohomology ring H^*(\mathrm{Gr}(k,n); \mathbb{Z}) is generated by the Chern classes c_1(Q), \dots, c_{n-k}(Q), with relations given by the Whitney formula from the exact sequence; the embedding realizes these generators as hyperplane sections, providing a geometric interpretation of the ring's presentation. This connection allows the use of K-theoretic or equivariant refinements, where the embedding aids in computing pushforwards and localization formulas for torus actions on the Grassmannian.^[20]^[31]

In other fields

In computer vision, Plücker coordinates provide a compact representation for lines in 3D space, facilitating tasks such as structure-from-motion and multi-view reconstruction. This parameterization allows for efficient handling of line correspondences across images, enabling the estimation of camera poses and scene geometry through algebraic methods that leverage the Plücker quadric relations. For instance, in multiple view geometry, lines are triangulated using maximum likelihood estimators based on these coordinates, which linearize the reprojection error for bundle adjustment.^[32]^[33] In robotics, Plücker coordinates are employed to model line constraints in motion planning, particularly for manipulators and mobile systems navigating environments with linear obstacles or kinematic chains. They enable the representation of instantaneous motions via screw theory, where lines encode twists and wrenches for path optimization and collision avoidance. This approach supports algebraic formulations for inverse kinematics and trajectory generation in high-dimensional configuration spaces.^[34]^[35] In theoretical physics, the Plücker embedding underpins twistor theory, where lines in complex projective space correspond to points in complexified Minkowski spacetime, modeling light rays and null congruences. Line complexes, parameterized via the Grassmannian embedded in projective space, describe self-dual Yang-Mills fields and gravitational instantons, bridging differential geometry with quantum field theory.^[36]^[37]

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Young Tableaux - Cambridge University Press & Assessment
The aim of this book is to develop the combinatorics of Young tableaux and to show them in action in the algebra of symmetric functions, representations of ...
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[PDF] LECTURE 2 1. Pieri and Giambelli Rules
Moreover, the chern classes of the Quotient bundle generate the cohomology ring. The Chern classes of the tautological bundle and the quotient bundle are easy.
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[PDF] Multiple View Geometry in Computer Vision, Second Edition
... Computer Vision. Second Edition. Richard Hartley. Australian National University,. Canberra, Australia. Andrew Zisserman. University of Oxford, UK. Page 4 ...
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Aug 9, 2016 · In this work, we propose a novel algebraic algorithm to estimate the camera pose. We parameterize 3D lines using Plücker coordinates that allow ...
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Sep 17, 2007 · Plücker coordinates of the allowable motion. This ma- trix relates the spatial velocity vector across the joint vrel to the joint velocity ...
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[PDF] Twistor theory and differential equations
Sep 16, 2009 · If the coordinates xμ are real, this line lies in the hypersurface PN. Conversely, fixing a twistor in PN gives a light ray in the. Minkowski ...
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[PDF] Twistor Theory and Differential Equations - arXiv
Feb 13, 2009 · If the coordinates xµ are real this line lies in the hypersurface PN. Conversely, fixing a twistor in PN gives a light–ray in the Minkowski.