Paper Info
Title
A Primer on the Differential Calculus of 3D Orientations.
Abstract
The proper handling of 3D orientations is a central element in many optimization problems in engineering. Unfortunately many researchers and engineers struggle with the formulation of such problems and often fall back to suboptimal solutions. The existence of many different conventions further complicates this issue, especially when interfacing multiple differing implementations. This document discusses an alternative approach which makes use of a more abstract notion of 3D orientations. The relative orientation between two coordinate systems is primarily identified by the coordinate mapping it induces. This is combined with the standard exponential map in order to introduce representation-independent and minimal differentials, which are very convenient in optimization based methods.
Year
Venue
Field
2016
arXiv: Robotics
Coordinate system,Differential (mechanical device),Computer science,Interfacing,Control engineering,Theoretical computer science,Implementation,Differential calculus,Artificial intelligence,Exponential map (Riemannian geometry),Optimization problem
DocType
Volume
Citations 
Journal
abs/1606.05285
4
PageRank 
References 
Authors
0.45
0
11
Name
Order
Citations
PageRank
Michael Blösch142731.24
Hannes Sommer2746.81
Tristan Laidlow382.20
M. Burri434318.62
Gabriel Nützi540.45
Peter Fankhauser617114.88
Dario Bellicoso7583.28
Christian Gehring818013.79
Stefan Leutenegger9137961.81
Marco Hutter1046058.00
Roland Siegwart117640551.49