Throughout this article, vectors and matrices are denoted in bold-face.
Especially, and
represent
n-dimensional zero vector and
identity matrix,
respectively. Symbol
represents the transposition of vectors or
matrices. Therefore
is a scalar product of
two vectors,
and
. Any vector representing
a homogeneous coordinate of a 2D or 3D point is underlined, e.g.
. For any 3-vector
, a
3
3 anti-symmetric matrix
is defined as