Real time motion fairing with unit quaternions

Y. C. Fang, C. C. Hsieh, M. J. Kim, J. J. Chang, T. C. Woo

研究成果: Article同行評審

47 引文 斯高帕斯(Scopus)


Though it may be tempting to smooth orientation data by filtering the Euler angles directly, it is noted that smoothed Euler angles do not necessarily yield a smooth motion. This is caused by the difference between the metric in the rotation group and that in the Euclidean space. The quaternions, which Hamilton discovered in 1853, provide a means for representing rotation. A unit quaternion, represented as a hypersphere in R4, has the same local topology and geometry as the rotation group. It thus provides a means for interpolating orientations. It is possible to achieve smooth rotation by filtering in quaternions the resulting quaternion may no longer be unitized. Fortunately, a unit quaternion curve, which represents the rotation path, can be derived by integrating the exponential map of the angular velocity. Unity of quaternions is thus maintained by filtering angular velocities. A lowpass filter coupled with an adaptive, mediative filter are employed to achieve smooth rotation motion in real time

頁(從 - 到)191-198
期刊CAD Computer Aided Design
出版狀態Published - 1998

All Science Journal Classification (ASJC) codes

  • 電腦科學應用
  • 電腦繪圖與電腦輔助設計
  • 工業與製造工程


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