On quaternion based parameterization of orientation in computer vision and robotics
The problem of orientation parameterization for applications in computer vision and robotics is examined in detail herein. The necessary intuition and formulas are provided for direct practical use in any existing algorithm that seeks to minimize a cost function in an iterative fashion. Two distin...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Eastern Macedonia and Thrace Institute of Technology
2014-04-01
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| Series: | Journal of Engineering Science and Technology Review |
| Subjects: | |
| Online Access: | http://www.jestr.org/downloads/Volume7Issue1/fulltext147114.pdf |
| Summary: | The problem of orientation parameterization for applications in computer vision and robotics is examined in detail herein.
The necessary intuition and formulas are provided for direct practical use in any existing algorithm that seeks to
minimize a cost function in an iterative fashion. Two distinct schemes of parameterization are analyzed: The first scheme
concerns the traditional axis-angle approach, while the second employs stereographic projection from unit quaternion
sphere to the 3D real projective space. Performance measurements are taken and a comparison is made between the two
approaches. Results suggests that there exist several benefits in the use of stereographic projection that include rational
expressions in the rotation matrix derivatives, improved accuracy, robustness to random starting points and accelerated
convergence. |
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| ISSN: | 1791-2377 1791-2377 |