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Fig. 6 Frontal view (above) and lateral view (below) of a statistical model of the absolute poses of
the vertebrae for a group of scoliotic patients. From left to right mean spine model, rotation
covariance, and translation covariance
generalized covariance in the transformed tangent space would be a diagonal matrix
with decreasing values on the diagonal (
R
gg
¼
with
k
1
k
2
k
k
). The covariance matrix in the transformed tangent space can be
computed from the original covariance matrix
R
and the transformation matrix A:
diag
k
1
; k
2
; ...; k
k
ð
Þ
A
R
ff
A
T
R
gg
¼
diag
k
1
; k
2
; ...; k
k
ð
Þ
¼
:
ð
9
Þ
