NDLI: Rotation interpolation based on the geometric structure of unit quaternions

Content Provider	IEEE Xplore Digital Library
Author	Dapeng Han Xiao Fang Qing Wei
Copyright Year	2008
Description	Author affiliation: Coll. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha (Dapeng Han; Xiao Fang; Qing Wei)
Abstract	In this paper smooth rotation interpolation is revisited before several quaternion based algorithms are developed. The start point is the geometric structure of unit quaternions, and the aim is to simplify the computation of existing methods and to enhance the interpolating accuracy of approximate methods. All unit quaternions are defined as a group, whose relation with SO(3) and $S^{3}$ are revealed, and whose Lie group structure can be established then. In solving the two-point interpolation problem with minimum acceleration constraint, numerical method and approximate method using cubic polynomial splines are presented. Three suboptimal analytical solutions are developed later on, utilizing quartic splines and projection skills on SO(3) or $S^{3}$ respectively. Numerical results show that the new methods can have better performance over existing algorithms.
Starting Page	1
Ending Page	6
File Size	154515
Page Count	6
File Format	PDF
ISBN	9781424417056
DOI	10.1109/ICIT.2008.4608619
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-04-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Quaternions Interpolation Approximation algorithms Trajectory Acceleration Polynomials Algorithm design and analysis
Content Type	Text
Resource Type	Article

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