Some Random Unpublished Papers

• “New Notation for Serial Kinematic Chains” (1987)

• “The ‘Essential’ Matrix – is not...” (Coplanarity Condition) (1990)

• “Imaging in Highly Scattering Media (Diaphanography)” (1995)

• “What is Wrong with so-called 'Linear' Photogrammetric Methods?”, (1999)

• “Projective Geometry Considered Harmful” (Exterior Orientation) (1999)

• “Tsai Camera Calibration Method Revisited” (Interior Orientation) (2000)

• “Area, Perimeter & Euler Number in Continuous Gray-Level Images” (2001)

• “Pattern Generation in Synthetic Aperture Lithography” (2002)

• “Sensitivity Matrix Coded Aperture Imaging Method” (2003)

• “Fixed Flow” (Constant Optical Flow) (2003)

• “Stability analysis of a chain of non-identical vehicles under bilateral cruise control,” (2019)

• “Quaternions and Rotation”,

• “Nearest Orthonormal Matrix”,

• “Cayley Numbers in Scheme” (code with comments on division algebras)

• “Quaternions for Rotation in Scheme” (code for rotation and finite rotation groups)

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  Berthold K.P. Horn, bkph@ai.mit.edu

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