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Recursive methods for the estimation of rotation quaternions

DSpace at IIT Bombay

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Title Recursive methods for the estimation of rotation quaternions
 
Creator CHAUDHURI, S
KARANDIKAR, SS
 
Subject 3-d motion estimation
monocular image sequence
attitude
 
Description A general framework for analyzing kinematics of a rigid body is presented We concentrate on different types of rotational motion of an object, namely the constant rotation, the constant angular acceleration about a fixed axis and the precessional motion Quaternions are used to formulate the motion analysis problems, assuming the availability of a sequence of position vectors at a uniformly sampled time interval. Computationally efficient recursive algorithms have been developed to estimate the relevant parameters defining the evolution of the attitude of the object. Simulation results Indicate good performance of these algorithms even in the presence of high sensor noise. Another advantage of the proposed methods Is that they allow a varying number of feature points at different time instants, enabling the algorithms to handle long term occlusion of features in machine vision applications.
 
Publisher IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
 
Date 2011-08-01T14:59:10Z
2011-12-26T12:53:24Z
2011-12-27T05:38:23Z
2011-08-01T14:59:10Z
2011-12-26T12:53:24Z
2011-12-27T05:38:23Z
1996
 
Type Article
 
Identifier IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 32(2), 845-854
0018-9251
http://dx.doi.org/10.1109/7.489528
http://dspace.library.iitb.ac.in/xmlui/handle/10054/8462
http://hdl.handle.net/10054/8462
 
Language en