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Matrix

This document provides an overview and review of key concepts in linear algebra covered in the 6.837 course. It discusses matrices and basic matrix operations including addition, subtraction, and multiplication. It also covers vector operations like the dot product and cross product. Other topics summarized include determinants and inverses of matrices, homogeneous coordinates, and orthonormal bases. The document is intended to serve as a reference for students in the course.

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136 views20 pages

Matrix

This document provides an overview and review of key concepts in linear algebra covered in the 6.837 course. It discusses matrices and basic matrix operations including addition, subtraction, and multiplication. It also covers vector operations like the dot product and cross product. Other topics summarized include determinants and inverses of matrices, homogeneous coordinates, and orthonormal bases. The document is intended to serve as a reference for students in the course.

Uploaded by

rohitjdbi83
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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6.

837 Linear Algebra Review


Patrick Nichols
Thursday, September 18, 2003

6.837 Linear Algebra Review

Overview

Basic matrix operations (+, -, *)


Cross and dot products
Determinants and inverses
Homogeneous coordinates
Orthonormal basis

6.837 Linear Algebra Review

Additional Resources

18.06 Text Book


6.837 Text Book
[email protected]
Check the course website for a
copy of these notes

6.837 Linear Algebra Review

What is a Matrix?
A matrix is a set of elements, organized
into rows and columns
rows

columns

a b
c d

6.837 Linear Algebra Review

Basic Operations
Addition, Subtraction, Multiplication
a b e
c d g

f a e b f

h c g d h

Just add elements

a b e
c d g

f a e b f

h c g d h

Just subtract elements

f ae bg af bh

h ce dg cf dh

Multiply each row


by each column

a b e
c d g

6.837 Linear Algebra Review

Multiplication
Is AB = BA? Maybe, but maybe not!
a b e
c d g

f ae bg ...

h ...
...

e
g

f a b ea fc ...

h c d ...
...

Heads up: multiplication is NOT commutative!

6.837 Linear Algebra Review

Vector Operations
Vector: 1 x N matrix
Interpretation: a line
in N dimensional
space
Dot Product, Cross
Product, and
Magnitude defined on
vectors only

a

v b
c
y
v
x

6.837 Linear Algebra Review

Vector Interpretation
Think of a vector as a line in 2D or 3D
Think of a matrix as a transformation on a line
or set of lines

x a b x'
y c d y'

6.837 Linear Algebra Review

Vectors: Dot Product


Interpretation: the dot product measures
to what degree two vectors are aligned
A
B

A+B = C
(use the head-to-tail method
to combine vectors)

A
6.837 Linear Algebra Review

Vectors: Dot Product


d
a b abT a b c e ad be cf
f

a aaT aa bb cc
2

a b a b cos( )

Think of the dot product as


a matrix multiplication

The magnitude is the dot


product of a vector with itself

The dot product is also related to


the angle between the two vectors
but it doesnt tell us the angle

6.837 Linear Algebra Review

Vectors: Cross Product


The cross product of vectors A and B is a vector
C which is perpendicular to A and B
The magnitude of C is proportional to the cosine
of the angle between A and B
The direction of C follows the right hand rule
this why we call it a right-handed coordinate
system

a b a b sin( )
6.837 Linear Algebra Review

Inverse of a Matrix
Identity matrix:
AI = A
Some matrices have an
inverse, such that:
AA-1 = I
Inversion is tricky:
(ABC)-1 = C-1B-1A-1
Derived from noncommutativity property

1 0 0

I 0 1 0
0 0 1

6.837 Linear Algebra Review

Determinant of a Matrix
Used for inversion
If det(A) = 0, then A
has no inverse
Can be found using
factorials, pivots, and
cofactors!
Lots of interpretations
for more info, take
18.06

a b
A

c
d

det( A) ad bc
1 d b
A
ad bc c a
1

6.837 Linear Algebra Review

Determinant of a Matrix
a b

f aei bfg cdh afh bdi ceg

c a

c a

f d

f d

i g

i g

6.837 Linear Algebra Review

Sum from left to right


Subtract from right to left
Note: N! terms

Inverse of a Matrix

a
d

b
e
h

1 0 0

f 0 1 0
i 0 0 1

1. Append the identity matrix


to A
2. Subtract multiples of the
other rows from the first
row to reduce the
diagonal element to 1
3. Transform the identity
matrix as you go
4. When the original matrix
is the identity, the identity
has become the inverse!

6.837 Linear Algebra Review

Homogeneous Matrices
Problem: how to include translations in
transformations (and do perspective transforms)
Solution: add an extra dimension

1
x
1

z 1

6.837 Linear Algebra Review

Orthonormal Basis
Basis: a space is totally defined by a set of
vectors any point is a linear combination
of the basis
Ortho-Normal: orthogonal + normal
Orthogonal: dot product is zero
Normal: magnitude is one
Example: X, Y, Z (but dont have to be!)
6.837 Linear Algebra Review

Orthonormal Basis
x 1 0 0

y 0 1 0

z 0 0 1

x y 0
x z 0
yz 0

X, Y, Z is an orthonormal basis. We can describe any


3D point as a linear combination of these vectors.

How do we express any point as a combination of a new


basis U, V, N, given X, Y, Z?

6.837 Linear Algebra Review

Orthonormal Basis
a 0 0 u1
0 b 0 u

2
0 0 c u3

v1
v2
v3

n1 a u b u c u

n2 a v b v c v
n3 a n b n c n

(not an actual formula just a way of thinking about it)

To change a point from one coordinate system to


another, compute the dot product of each
coordinate row with each of the basis vectors.

6.837 Linear Algebra Review

Questions?

?
6.837 Linear Algebra Review

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