Yet a better closed-form formula for the 3D nearest rotation matrix problem
Tipus de documentReport de recerca
Data publicació2021
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
:
Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
ProjectePLANIFICACION CINETODINAMICA DE MOVIMIENTOS ROBOTICOS EFICIENTES Y AGILES (AEI-DPI2017-88282-P)
Abstract
This technical report complements the results recently presented in [1] showing that they can be extended to define an efficient and robust method to determine the rotation matrix nearest to an arbitrary 3 × 3 matrix. This problem arises in different areas of robotics that range from the simple case in which we have to restore the orthogonality of a noisy rotation matrix to point-cloud registration or hand-eye calibration. We show that the new method compares favorably with the classical approaches to address this problem and also with more recent methods
CitacióWu, J. [et al.]. Yet a better closed-form formula for the 3D nearest rotation matrix problem. 2021.
Forma partIRI-TR-21-01
Fitxers | Descripció | Mida | Format | Visualitza |
---|---|---|---|---|
2487-Yet-a-Bett ... tion-Matrix-Problem(2).pdf | 1,410Mb | Visualitza/Obre |