CONSTRAINED OPTIMIZATION APPROACH TO THE ESTIMATION OF ROTATION MATRIX

LI Bingcheng, SHEN Jun. CONSTRAINED OPTIMIZATION APPROACH TO THE ESTIMATION OF ROTATION MATRIX[J]. ROBOT, 1991, 13(3): 1-5.

Citation:

LI Bingcheng, SHEN Jun. CONSTRAINED OPTIMIZATION APPROACH TO THE ESTIMATION OF ROTATION MATRIX[J]. ROBOT, 1991, 13(3): 1-5.

Citation:

LI Bingcheng, SHEN Jun. CONSTRAINED OPTIMIZATION APPROACH TO THE ESTIMATION OF ROTATION MATRIX[J]. ROBOT, 1991, 13(3): 1-5.

Abstract

Based on the orthogonality of rotation matrix, a constrained optimization approach is proposed to es-timate the rotation matrix. This method has three advantangcs: 1) it improves the estimation accuracy; 2)the estimated rotation matrix is orthgonal; 3) the estimation is independent of the achievement of input ro-tation matrix.

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