Special Unitary Parameterized Estimators of Rotation

Autor:	Chandrasekhar, Akshay
Rok vydání:	2024
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	This paper explores rotation estimation from the perspective of special unitary matrices. First, multiple solutions to Wahba's problem are derived through special unitary matrices, providing linear constraints on quaternion rotation parameters. Next, from these constraints, closed-form solutions to the problem are presented for minimal cases. Finally, motivated by these results, we investigate new representations for learning rotations in neural networks. Numerous experiments validate the proposed methods. Comment: 18 pages; Correction for original Wahba problem solution; added connection with Hopf fibration
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2411.13109 Zobrazit plný text záznamu View this record from Arxiv