A Power Method for Computing the Dominant Eigenvalue of a Dual Quaternion Hermitian Matrix

Abstract

In this paper, we first study the projections onto the set of unit dual quaternions, and the set of dual quaternion vectors with unit norms. Then we propose a power method for computing the dominant eigenvalue of a dual quaternion Hermitian matrix. For a strict dominant eigenvalue, we show the sequence generated by the power method converges to the dominant eigenvalue and its corresponding eigenvector linearly. For a general dominant eigenvalue, we establish linear convergence of the standard part of the dominant eigenvalue. Based upon these, we reformulate the simultaneous localization and mapping problem as a rank-one dual quaternion completion problem. A two-block coordinate descent method is proposed to solve this problem. One block has a closed-form solution and the other block is the best rank-one approximation problem of a dual quaternion Hermitian matrix, which can be computed by the power method. Numerical experiments are presented to show the efficiency of our proposed power method.