The viewpoint is set using the estimated orientation , although it might need to be adjusted to account for alternative timings, for the purpose of prediction or image warping, as discussed in Section 7.4. Let denote the estimated orientation for time . In terms of the transformations from Section 3.4, we have just estimated . To calculate the correct viewpoint, the inverse is needed. Thus, would correctly transform models to take the estimated viewpoint into account.

Steven M LaValle 2016-12-31