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)

摘要

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

原文English
頁(從 - 到)191-198
頁數8
期刊CAD Computer Aided Design
30
發行號3
DOIs
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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