کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
804953 | 905026 | 2010 | 13 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Arithmetic and geometric solutions for average rigid-body rotation
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
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چکیده انگلیسی
Several existing formulations for the rotation average are reviewed and classified into the Euclidean and Riemannian solutions. A novel, more efficient characterization of the Riemannian-based average is proposed. The discussion addresses the issue of bi-invariance of the underlying distance metrics, and how the different solutions are interrelated. A not bi-invariant arithmetic average of rotation vectors is considered and shown to be an approximate solution to both the Riemannian and Euclidean averages. Results for four numerical examples are presented demonstrating the closeness of all solutions in practical applications, but also their differences when the rotations to be averaged are orthogonal to each other.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 45, Issue 9, September 2010, Pages 1239–1251
Journal: Mechanism and Machine Theory - Volume 45, Issue 9, September 2010, Pages 1239–1251
نویسندگان
Inna Sharf, Alon Wolf, M.B. Rubin,