Figure 11

Rotation process of a point using an ellipsoid. (a) The image point $p_1^i=(u_1,v_1)$ is associated with the point $P_1^i=(u_1,v_1,w_1)$ on the ellipsoid using the ellipsoid equation. (b) $p_1^i$ is expressed in the ellipsoid coordinate system which gives the point $P_1^e$. The rotated point $P_2^e$ is computed using rotation matrices. (c) $P_2^e$ is expressed in the image coordinate system which gives the point $P_2^i=(u_2,v_2,w_2)$ and the image point $p_2^i=(u_2,v_2)$.