证明旋转矩阵R的指数映射

旋转矩阵如$\mathbf{R}=\left[\begin{array}{lll}{r}_{11}& r_{12}& r_{13}\\ r_{21}& r_{22}& r_{23}\\ r_{31}& r_{32}& r_{33}\end{array}\right]$，对于给定的$R\in SO(3)$，存在$\omega \in {\Re }^3,\Vert \omega \Vert =1$及$\theta \in \Re$，使得$\mathbf{R}=\exp (\hat{\mathbf{\omega }}\theta {)}_{\circ }$

证明：$\log (\mathbf{R})=\{\begin{array}{ll}\frac{\theta }{2\sin (\theta )}\left(\mathbf{R}-{\mathbf{R}}^T\right),& \text{ if }\theta \ne 0\\ 0,& \text{ if }\theta =0\end{array}$

证明：
根据定义$\mathbf{R}=\left[\begin{array}{lll}{r}_{11}& r_{12}& r_{13}\\ r_{21}& r_{22}& r_{23}\\ r_{31}& r_{32}& r_{33}\end{array}\right]$，令$v_{\theta }=1-\cos \theta ,c_9=\cos \theta ,s_{\theta }=\sin \theta$，则罗德里格斯公式可以改写如下形式：

$\begin{array}{rl}{\mathrm{e}}^{\dot{\omega \theta }}& =\mathbf{I}+\hat{\mathbf{\omega }}\sin \theta +{\hat{\mathbf{\omega }}}^2(1-\cos \theta )=\\ & \left[\begin{array}{ccc}1-v_{\theta }\left({\omega }_2^2+{\omega }_3^2\right)& {\omega }_1{\omega }_2{v}_{\theta }-{\omega }_3{s}_{\theta }& {\omega }_1{\omega }_3{v}_{\theta }+{\omega }_2{s}_{\theta }\\ {\omega }_1{\omega }_2{v}_{\theta }+{\omega }_3{s}_{\theta }& 1-v_{\theta }\left({\omega }_1^2+{\omega }_3^2\right)& {\omega }_2{\omega }_3{v}_{\theta }-{\omega }_1{s}_{\theta }\\ {\omega }_1{\omega }_3{v}_{\theta }-{\omega }_2{s}_{\theta }& {\omega }_2{\omega }_3{v}_{\theta }+{\omega }_1{s}_{\theta }& 1-v_{\theta }\left({\omega }_1^2+{\omega }_2^2\right)\end{array}\right]=\\ & \left[\begin{array}{ccc}{\omega }_1^2{v}_{\theta }+c_{\theta }& {\omega }_1{\omega }_2{v}_{\theta }-{\omega }_3{s}_{\theta }& {\omega }_1{\omega }_3{v}_{\theta }+{\omega }_2{s}_{\theta }\\ {\omega }_1{\omega }_2{v}_{\theta }+{\omega }_3{s}_{\theta }& {\omega }_2^2{v}_{\theta }+c_{\theta }& {\omega }_2{\omega }_3{v}_{\theta }-{\omega }_1{s}_{\theta }\\ {\omega }_1{\omega }_3{v}_{\theta }-{\omega }_2{s}_{\theta }& {\omega }_2{\omega }_3{v}_{\theta }+{\omega }_1{s}_{\theta }& {\omega }_3^2{v}_{\theta }+c_{\theta }\end{array}\right]\end{array}$

根据R的定义与改写的罗德里格斯公式，可得：$\mathrm{trace}(\mathbf{R})=r_{11}+r_{22}+r_{33}=1+2\cos \theta$

为证明该式有解，可利用R的迹等于其特征值之和的关系。由于R能保持长度不变且det®=+1，其特征值为1,并且为复共轭。由$-1⩽trace(\mathbf{R})⩽3$，得：

$\theta =\arccos \left(\frac{\mathrm{trace}(\mathbf{R})-1}{2}\right)$，其中$\theta$值不确定，它可在$\theta \pm 2\pi n或-\theta \pm 2\pi n$

再令R和$\exp (\hat{\mathbf{\omega }}\theta )$的非对角线元素相等，有

$\begin{array}{l}{r}_{32}-r_{23}=2{\omega }_1{s}_{\theta }\\ r_{13}-r_{31}=2{\omega }_2{s}_{\theta }\\ r_{21}-r_{12}=2{\omega }_3{s}_{\theta }\end{array}$

若$\theta \ne 0$，则取

$\hat{\mathbf{\omega }}=\frac{1}{2s_{\theta }}\left[\begin{array}{l}{r}_{32}-r_{23}\\ r_{13}-r_{31}\\ r_{21}-r_{12}\end{array}\right]$

而$\frac{1}{2\sin (\theta )}\left(\mathbf{R}-{\mathbf{R}}^T\right)=\left[\begin{array}{ccc}0& -w_3& w_2\\ w_3& 0& -w_1\\ -w_2& w_1& 0\end{array}\right]={\hat{\mathbf{\omega }}}^{\wedge }$

所以，旋转矩阵R的对数映射$\log (\mathbf{R})=\{\begin{array}{ll}\frac{\theta }{2\sin (\theta )}\left(\mathbf{R}-{\mathbf{R}}^T\right),& \text{ if }\theta \ne 0\\ 0,& \text{ if }\theta =0\end{array}$