On quaternion based parametrization of orientation in computer vision and robotics
dc.contributor.author | Terzakis, G | |
dc.contributor.author | Culverhouse, Phil | |
dc.contributor.author | Bugmann, Guido | |
dc.contributor.author | sharma, sanjay | |
dc.contributor.author | sutton, R | |
dc.date.accessioned | 2015-10-15T11:30:17Z | |
dc.date.available | 2015-10-15T11:30:17Z | |
dc.date.issued | 2014 | |
dc.identifier.issn | 1791-2377 | |
dc.identifier.issn | 1791-2377 | |
dc.identifier.uri | http://hdl.handle.net/10026.1/3649 | |
dc.description.abstract |
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. © 2014 Kavala Institute of Technology. | |
dc.format.extent | 82-93 | |
dc.language.iso | en | |
dc.publisher | International Hellenic University | |
dc.title | On quaternion based parametrization of orientation in computer vision and robotics | |
dc.type | journal-article | |
dc.type | Article | |
plymouth.edition | 7 | |
plymouth.issue | 1 | |
plymouth.volume | 7 | |
plymouth.publication-status | Published | |
plymouth.journal | Journal of Engineering Science and Technology Review | |
dc.identifier.doi | 10.25103/jestr.071.14 | |
plymouth.organisational-group | /Plymouth | |
plymouth.organisational-group | /Plymouth/Faculty of Science and Engineering | |
plymouth.organisational-group | /Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics | |
plymouth.organisational-group | /Plymouth/REF 2021 Researchers by UoA | |
plymouth.organisational-group | /Plymouth/REF 2021 Researchers by UoA/UoA12 Engineering | |
plymouth.organisational-group | /Plymouth/Research Groups | |
plymouth.organisational-group | /Plymouth/Research Groups/Marine Institute | |
plymouth.organisational-group | /Plymouth/Users by role | |
plymouth.organisational-group | /Plymouth/Users by role/Academics | |
dcterms.dateAccepted | 2014-04-10 | |
dc.identifier.eissn | 1791-2377 | |
dc.rights.embargoperiod | Not known | |
rioxxterms.versionofrecord | 10.25103/jestr.071.14 | |
rioxxterms.licenseref.uri | http://www.rioxx.net/licenses/all-rights-reserved | |
rioxxterms.licenseref.startdate | 2014 | |
rioxxterms.type | Journal Article/Review |