Regression of 3D rigid transformations on real-valued vectors in closed form

Takuya Funatomi; Masaaki Iiyama; Koh Kakusho; Michihiko Minoh

ICRA 2017poster4 citations

Regression of 3D rigid transformations on real-valued vectors in closed form

Takuya Funatomi, Masaaki Iiyama, Koh Kakusho, Michihiko Minoh

Abstract

In this paper, we present a regression for predicting 3D rigid transformations from real-valued vectors. We use a unit dual quaternion to represent the transformation. The regression is formulated as blending unit dual quaternions. To formulate it in a closed form, we introduce an approximation based on error metrics according to geometric algebra. Finally, we take an articulated motion and an elastic deformation as examples to present the descriptive power of our method in modeling the motion and the deformation.

BibTeX

@inproceedings{icra2017_regressionof3dri,
  title = {Regression of 3D rigid transformations on real-valued vectors in closed form},
  author = {Takuya Funatomi and Masaaki Iiyama and Koh Kakusho and Michihiko Minoh},
  booktitle = {ICRA 2017},
  year = {2017}
}