Fig. 8.

Illustration of MS construction. $\tau$ is the reference point in PS $\mathcal{P}$, $T_{\tau }\mathcal{P}$ is the tangent space of $\tau$. The MS is denoted as $(\mathcal{H},{\mathbb{L}}^2)$. The green trajectory in PS is the orbit of $\widetilde{\mathit{SO}}(\mathcal{P})$. The pink path in pre-MS represents an equivalence class of a motion, and it will be mapped to the orange point on MS using SP-TSRVF