[AMR] updated first 4.5 sections

2026-09-10 19:15:25 +02:00 · 2026-08-08 12:31:01 +02:00
parent 7cdba7dca9
commit c1bdbc64bf
20 changed files with 103 additions and 55 deletions
@@ -1,13 +1,20 @@
 \subsection{Keypoints}
 \bi{Corner det.} $SSD(\Delta x, \Delta y) \approx [\Delta_x \; \Delta_y] \mat{M} [\Delta_x \; \Delta_y]^\top$
-with $\mat{M} = \mat{R}^\top \text{diag}(\lambda_1, \lambda_2) \mat{R}$; $\lambda_i$ E.V. of $M$; $\kappa$ const 0.04-0.15;\\
+$\lambda_i$ E.V. of $M$; $\kappa$ const 0.04-0.15;
 $\mat{R} = \det(M) - \kappa \cdot \text{TR}(M)^2 = \lambda_1\lambda_2 - \kappa(\lambda_1 + \lambda_2)^2$;\\
-$M = \sum_{x, y \in P}
+$\mat{M} = \sum_{x, y \in P}
    {\scriptsize
        \begin{bmatrix}
            I_x^2   & I_x I_y \\
            I_x I_y & I_y^2
        \end{bmatrix}
+        =
+        R^\top
+        \begin{bmatrix}
+            \lambda_1 & 0         \\
+            0         & \lambda_2
+        \end{bmatrix}
+        R
    }$