$\mathit{R}$:	a $3\times 3$ rotation matrix with $det\mathit{R}=1$ and ${\mathit{R}}^T={\mathit{R}}^{™1}$,
$\mathit{t}$:	a $3\times 1$ translation vector,
$\mathbf{0}$:	a $3\times 1$ zero vector.