Soheil Sarabandi

2 accepted papers

2023

Completely Rational $\text{SO}(n)$ Orthonormalization

Jin Wu, Soheil Sarabandi, Jianhao Jiao, Huaiyang Huang, Bohuan Xue, Ruoyu Geng +2

ICRA 2023poster

The rotation orthonormalization on the special orthogonal group \text{SO}(n)\text{SO}(n), also known as the high dimensional nearest rotation problem, has been revisited. A new generalized simple iterative formula has been proposed that solves this problem in a completely rational manner. Rational o…

Cited by 0 Source ↗Scholar ↗

2022

Hand-Eye Calibration Made Easy Through a Closed-Form Two-Stage Method

Soheil Sarabandi, Josep M. Porta, Federico Thomas

RA-L 2022

An analysis of the existing hand-eye calibration methods reveals that most of them are far from trivial. And, what is worse, their intrinsic complexity makes it difficult to elucidate under which circumstances they fail to provide an accurate solution. Thus, although it might seem that the hand-eye

Cited by 32 Source ↗Scholar ↗