Unit Dual-Quaternion Parametrisation for Graph SLAM
This paper presents a new parameterisation approach for the graph-based SLAM problem utilising unit dual-quaternion. The rigid-body transformation typically consists of the robot position and rotation, and due to the Lie-group nature of the rotation, a homogeneous transformation matrix (HTM) has been widely used in pose-graph optimizations. In this paper, we investigate the use of unit dual-quaternion (UDQ) for SLAM problem, providing a unified representation of the robot poses with...[Show more]
|Collections||ANU Research Publications|
|Source:||Australasian Conference on Robotics and Automation, ACRA|
|Access Rights:||Open Access|
|01_Kim_Unit_Dual-Quaternion_2015.pdf||959.49 kB||Adobe PDF|
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