Additive results of the dual Moore--Penrose generalized inverse with an application to rigid-body motion estimation
The paper derives explicit formulas for the dual Moore–Penrose generalized inverse (DMPGI) of dual complex matrix sums and applies them to rigid-body motion estimation using velocity data from two observation points with perturbed positions. This method recovers observable motion components, revealing that certain rotational components are unobservable due to rank deficiency in the observation geometry.