Snell's law describes the relationship between the incidence angle and reflection (or refraction) angle of a light ray impinging on the interface between two different isotropic media. In this paper, ...

Abstract: In geometrical computations it is often necessary to find two unit vectors such that they and a given vector form an orthogonal basis. Computationally simple forms for the two unit vectors ...

Abstract: For some problems, such as monocular visual odometry (VO), vector measurements are given with unknown magnitude. In VO, the magnitude can be found by recognizing features with known position ...