Kendall coordinates是除了Bookstein coordinates以外的另一种去除Object位置信息(对应于Euclidean Similarity Transformation中的移动)的方法。Kendall coordinates利用Helmert submatrix去除Object的Location信息。
Helmert submatrix H k − 1 × k H_{k-1 \times k} Hk−1×k是去掉了第一行的Helmert matrix。Full Helmert matrix H F H^{F} HF 是 k × k k \times k k×k的正交方阵。其第一行中每个元素的值为 1 / k 1/\sqrt{k} 1/k,其后每行元素的定义见下文。而且,每行vector的模等于1,任意两行彼此相互正交。因此,Full Helmert matrix即相当于是一个 k k k维的直角坐标系,每行vector即是对应方向上的单位向量。数据 X k × m X_{k \times m} Xk×m经过没有第一行向量的Helmert submatix的变换,让变换后的数据 ( H X ) k − 1 × m (HX)_{k-1 \times m} (HX)k−1×m不再依赖数据 X X X的原始位置信息。
注: H T H = C H^{T}H = C HTH=C, C C C是对Object的Size进行测量的Centroid size方法中的centring matrix, C = I k − 1 k 1 k 1 k T C = I_{k}-\frac{1}{k}\bf{1}_{k}\bf{1}_{k}^{T} C=Ik−k11k1kT。
Definition 1: The j-th row of the Helmert submatrix H H H is given by: ( h j , … , h j , − j h j , 0 , … , 0 ) , h j = − j ( j + 1 ) − 1 / 2 , (h_{j}, \dots, h_{j}, -jh_{j}, 0, \dots, 0), h_{j} = -{j(j+1)}^{-1/2}, (hj,…,hj,−jhj,0,…,0),hj=−j(j+1)−1/2, and so the j-th row consists of h j h_{j} hj repeated j j j times, followed by − j h j -jh_{j} −jhj and then k − j − 1 k-j-1 k−j−1 zeros, j = 1 , … , k − 1 j = 1, \dots, k-1 j=1,…,k−1.
示例
对于
k
=
3
k=3
k=3的full Helmert matrix:
H
F
=
[
1
/
3
1
/
3
1
/
3
−
1
/
2
−
1
/
2
0
−
1
/
6
−
1
/
6
2
/
6
]
H^{F} = \begin{bmatrix} 1/\sqrt{3} & 1/\sqrt{3} & 1/\sqrt{3} \\ -1/\sqrt{2} & -1/\sqrt{2} & 0 \\ -1/\sqrt{6} & -1/\sqrt{6} & 2/\sqrt{6} \end{bmatrix}
HF=⎣⎡1/3−1/2−1/61/3−1/2−1/61/302/6⎦⎤
它的Helmert submatrix:
H
=
[
−
1
/
2
−
1
/
2
0
−
1
/
6
−
1
/
6
2
/
6
]
H = \begin{bmatrix} -1/\sqrt{2} & -1/\sqrt{2} & 0 \\ -1/\sqrt{6} & -1/\sqrt{6} & 2/\sqrt{6} \end{bmatrix}
H=[−1/2−1/6−1/2−1/602/6]
对于
k
=
4
k=4
k=4的full Helmert matrix:
H
F
=
[
1
/
2
1
/
2
1
/
2
1
/
2
−
1
/
2
1
/
2
0
0
−
1
/
6
−
1
/
6
2
/
6
0
−
1
/
12
−
1
/
12
−
1
/
12
3
/
12
]
H^{F} = \begin{bmatrix} 1/2 & 1/2 & 1/2 & 1/2 \\ -1/\sqrt{2} & 1/\sqrt{2} & 0 & 0 \\ -1/\sqrt{6} & -1/\sqrt{6} & 2/\sqrt{6} & 0 \\ -1/\sqrt{12} & -1/\sqrt{12} & -1/\sqrt{12} & 3/\sqrt{12} \end{bmatrix}
HF=⎣⎢⎢⎡1/2−1/2−1/6−1/121/21/2−1/6−1/121/202/6−1/121/2003/12⎦⎥⎥⎤
它的Helmert submatrix:
H
=
[
−
1
/
2
1
/
2
0
0
−
1
/
6
−
1
/
6
2
/
6
0
−
1
/
12
−
1
/
12
−
1
/
12
3
/
12
]
H = \begin{bmatrix} -1/\sqrt{2} & 1/\sqrt{2} & 0 & 0 \\ -1/\sqrt{6} & -1/\sqrt{6} & 2/\sqrt{6} & 0 \\ -1/\sqrt{12} & -1/\sqrt{12} & -1/\sqrt{12} & 3/\sqrt{12} \end{bmatrix}
H=⎣⎡−1/2−1/6−1/121/2−1/6−1/1202/6−1/12003/12⎦⎤