Based on the unit quaternion decomposition of rotation matrix, this paper puts forward an algorithm to estimate motion parameters from the space position vectors of 3D feature points. Rotation matrix’s representation...Based on the unit quaternion decomposition of rotation matrix, this paper puts forward an algorithm to estimate motion parameters from the space position vectors of 3D feature points. Rotation matrix’s representation with the unit quaternion has no singular points, so the unit quaternion-based estimation method is of more practical importance, and the algorithm in this paper does not need iteration computation compared to those unit quaternion-based methods proposed by Horn(1987) and Su, et al.(1989). Solution’s uniqueness analysis of the algorithm and simulation experiment results are also presented, it can be seen that performance of our method is satisfactory.展开更多
This paper deals with rigid body attitude estimation on the basis of the data obtained from an inertial measurement unit mounted on the body. The aim of this work is to present the numerical algorithm, which can be ea...This paper deals with rigid body attitude estimation on the basis of the data obtained from an inertial measurement unit mounted on the body. The aim of this work is to present the numerical algorithm, which can be easily applied to the wide class of problems concerning rigid body positioning, arising in aerospace and marine engineering, or in increasingly popular robotic systems and unmanned aerial vehicles. Following the considerations of kinematics of rigid bodies, the relations between accelerations of different points of the body are given. A rotation matrix is formed using the quaternion approach to avoid singularities. We present numerical procedures for determination of the absolute accelerations of the center of mass and of an arbitrary point of the body expressed in the inertial reference frame, as well as its attitude. An application of the algorithm to the example of a heavy symmetrical gyroscope is presented, where input data for the numerical procedure are obtained from the solution of differential equations of motion, instead of using sensor measurements.展开更多
In this paper,a method combining perspective-n-point(PnP) and novel iteration algorithm is developed to measure the pose of a target in high precision for Tele-LightSaber game.The PnP algorithm is used to obtain a rou...In this paper,a method combining perspective-n-point(PnP) and novel iteration algorithm is developed to measure the pose of a target in high precision for Tele-LightSaber game.The PnP algorithm is used to obtain a rough pose,which is taken as the initial value of the iteration algorithm.The iteration algorithm utilizes the unit quaternions to represent the rotations.Then the result is optimized with Kalman filter.Considering the real-time and accuracy of the pose measurement,a fast feature extraction algorithm including object location,edge detection and corner detection is adopted to get the corners in high precision.The experiments and results verify the effectiveness of the proposed method.展开更多
基金"863"High Technology Research and Development Program of China under Grant 863-306-03-01
文摘Based on the unit quaternion decomposition of rotation matrix, this paper puts forward an algorithm to estimate motion parameters from the space position vectors of 3D feature points. Rotation matrix’s representation with the unit quaternion has no singular points, so the unit quaternion-based estimation method is of more practical importance, and the algorithm in this paper does not need iteration computation compared to those unit quaternion-based methods proposed by Horn(1987) and Su, et al.(1989). Solution’s uniqueness analysis of the algorithm and simulation experiment results are also presented, it can be seen that performance of our method is satisfactory.
基金supported by the Serbian Ministry of Education, Science and Technological Development (Grant 174016)
文摘This paper deals with rigid body attitude estimation on the basis of the data obtained from an inertial measurement unit mounted on the body. The aim of this work is to present the numerical algorithm, which can be easily applied to the wide class of problems concerning rigid body positioning, arising in aerospace and marine engineering, or in increasingly popular robotic systems and unmanned aerial vehicles. Following the considerations of kinematics of rigid bodies, the relations between accelerations of different points of the body are given. A rotation matrix is formed using the quaternion approach to avoid singularities. We present numerical procedures for determination of the absolute accelerations of the center of mass and of an arbitrary point of the body expressed in the inertial reference frame, as well as its attitude. An application of the algorithm to the example of a heavy symmetrical gyroscope is presented, where input data for the numerical procedure are obtained from the solution of differential equations of motion, instead of using sensor measurements.
基金Supported by the National High Technology Research and Development Programme of China(No.2012AA041403)the National Natural Science Foundation of China(No.60905061)the National Natural Science Foundation of Tianjin(No.08JCYBJC12700)
文摘In this paper,a method combining perspective-n-point(PnP) and novel iteration algorithm is developed to measure the pose of a target in high precision for Tele-LightSaber game.The PnP algorithm is used to obtain a rough pose,which is taken as the initial value of the iteration algorithm.The iteration algorithm utilizes the unit quaternions to represent the rotations.Then the result is optimized with Kalman filter.Considering the real-time and accuracy of the pose measurement,a fast feature extraction algorithm including object location,edge detection and corner detection is adopted to get the corners in high precision.The experiments and results verify the effectiveness of the proposed method.
