Numerically stable methods for converting rotation matrices to Euler parameters

被引：0

作者：

Coope, ID ^{[1
]}

Lintott, AB ^{[1
]}

Dunlop, GR ^{[1
]}

Vuskovic, MI ^{[1
]}

机构：

[1] Univ Canterbury, Canterbury, New Zealand

来源：

ADVANCES IN ROBOT KINEMATICS | 2000年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Euler parameters have several advantages over other methods of parameterising rotations. A selection of methods for extracting Euler parameters from a rotation matrix are presented, and their computational efficiency and accuracy are compared. One commonly accepted method is shown to suffer from loss of significance when rotations are close to pi +/- 2k pi radians. This paper also presents an original mettled based on the eigendecomposition of the rotation matrix.

引用

页码：35 / 42

页数：8

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