A COMPARISON OF ROTATIONAL REPRESENTATION IN STRUCTURE AND MOTION ESTIMATION FOR MANEUVERING OBJECTS

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Authors
  1. Aitken, V.C.
  2. Schwartz, H.M.
Corporate Authors
Defence Research Establishment Suffield, Ralston ALTA (CAN);Carleton Univ, Ottawa ONT (CAN) Dept of Systems and Computer Engineering
Abstract
Alternative methods are examined for estimating motion and structure of objects undergoing smooth maneuvers through measurements of feature positions in long, multiple-camera image sequences. Performance of extended Kalman filters are compared for Euler angle-axis, roll-pitch-yaw, and quaternion parameterizations of rotational motion. The angle-axis method was found to give the best overall performance with a computationally efficient implementation.
Keywords
Rotational motion angle-axix method;Translational motion;Quaternion parameterizations;Maneuvering objects
Date of publication
01 Apr 1994
Number of Pages
5
DSTKIM No
95-02318
CANDIS No
151454
Format(s):
Document Image stored on Optical Disk;Hardcopy

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