Numerically stable methods for converting rotation matrices to Euler parameters

被引：0
|
作者：
Coope, ID [1 ]
Lintott, AB [1 ]
Dunlop, GR [1 ]
Vuskovic, MI [1 ]
机构：
[1] Univ Canterbury, Canterbury, New Zealand
来源：
ADVANCES IN ROBOT KINEMATICS | 2000年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Euler parameters have several advantages over other methods of parameterising rotations. A selection of methods for extracting Euler parameters from a rotation matrix are presented, and their computational efficiency and accuracy are compared. One commonly accepted method is shown to suffer from loss of significance when rotations are close to pi +/- 2k pi radians. This paper also presents an original mettled based on the eigendecomposition of the rotation matrix.
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收藏
页码：35 / 42
页数：8
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