References
Reference NO 1
http://stackoverflow.com/questions/15189667/finding-orthonormal-basis-for-the-range-of-a-matrix
Reference NO 2
http://www.mathworks.com/help/symbolic/orth.html
Reference NO 3
http://mathworld.wolfram.com/OrthogonalMatrix.html
Reference NO 4
http://en.wikipedia.org/wiki/Orthonormal_basis
Reference NO 5
http://answers.opencv.org/question/15222/compute-the-orthonormal-basis-of-a-matrix/
Reference NO 6
http://www.math.utk.edu/~freire/teaching/m251f10/m251s10orthogonal.pdf
Reference NO 7
http://www.calpoly.edu/~brichert/teaching/oldclass/f2002217/solutions/solutions11.pdf
Reference NO 8
http://see.stanford.edu/materials/lsoeldsee263/04-qr.pdf
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