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Unit Dual-Quaternion Parametrisation for Graph SLAM

Kim, Jonghyuk; Cheng, Jiantong; Shim, Hyunchul


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]

CollectionsANU Research Publications
Date published: 2015
Type: Conference paper
Source: Australasian Conference on Robotics and Automation, ACRA
Access Rights: Open Access


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