Search results for "Quaternions"

showing 4 items of 4 documents

Calibration of mobile manipulators using 2D positional features.

2018

International audience; Robotic manipulators are increasingly being attached to Automatic Ground Vehicles (AGVs) to aid in the efficiency of assembly for manufacturing systems. However, calibrating these mobile manipulators is difficult as the offset between the robotic manipulator and the AGV is often unknown. This paper provides a novel, simple, and low-cost method for calibrating and measuring the performance of mobile manipulators by using data collected from a laser retroreflector that digitally detects the horizontal two-dimensional (2D) position of reflectors on an artifact as well as a navigation system that provides the heading angle and 2D position of the AGV. The method is mathem…

0209 industrial biotechnologyOffset (computer science)PoseForm AxRegistrationComputer scienceRobot manipulator02 engineering and technologyBaseArticle03 medical and health sciences[SPI]Engineering Sciences [physics]020901 industrial engineering & automation0302 clinical medicineSensor calibrationOrientationCalibrationYBComputer visionElectrical and Electronic EngineeringInstrumentationRobot-world/hand-eye calibrationClosed form solution Hand-Eye CalibrationSensorbusiness.industryApplied MathematicsNavigation systemSimultaneous Robot-WorldCondensed Matter PhysicsManufacturing systemsHomogeneous Transform EquationsRetroreflector030220 oncology & carcinogenesisSimulated dataXBArtificial intelligenceClosed-form expressionQuaternionsbusinessMeasurement : journal of the International Measurement Confederation
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A spinorial decomposition of gl_4(R)

2010

We determine six invariant subspaces of the 16-dimensional space gl_4(R) under the conjugation by any element in Spin_3(R). Four of them add up to the 10-dimensional space of symmetric matrices and the other two add up to the 6-dimensional space of skew-symmetric matrices.

Lie groups spin group quaternions.Settore MAT/03 - Geometria
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Fast Volumetric Reconstruction of Human Body through Superquadrics

2013

This paper describes a technique to reconstruct the volumes of the human body. For this purpose, are introduced mathematical objects able to represent 3d shapes, called super quadrics. These objects are positioned in the space according the captures made by a Microsoft Kinect device and are composed to represent the volumes of the human body. The employment of quaternions provides a relevant speedup for the rotation of the volumes and allows to follow the human movements in real time and reduced computational cost.

Settore ING-INF/05 - Sistemi Di Elaborazione Delle InformazioniquaternionsreconstructionQuadricComputer sciencebusiness.industryComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISIONsuperquadricHuman bodyartificial intelligencehuman body scanningVolumetric reconstruction3D shape modellingComputer graphics (images)SuperquadricssuperellipsoidComputer visionArtificial intelligenceQuaternionbusinessRotation (mathematics)ComputingMethodologies_COMPUTERGRAPHICS2013 IEEE International Conference on Systems, Man, and Cybernetics
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Locally compact (2, 2)-transformation groups

2010

We determine all locally compact imprimitive transformation groups acting sharply 2-transitively on a non-totally disconnected quotient space of blocks inducing on any block a sharply 2-transitive group and satisfying the following condition: if Δ1, Δ2 are two distinct blocks and Pi, Qi ∈ Δi (i = 1, 2), then there is just one element in the inertia subgroup which maps Pi onto Qi. These groups are natural generalizations of the group of affine mappings of the line over the algebra of dual numbers over the field of real or complex numbers or over the skew-field of quaternions. For imprimitive locally compact groups, our results correspond to the classical results of Kalscheuer for primitive l…

Topological imprimitive transformation groupKalscheuer near-fieldSettore MAT/03 - Geometriadual quaternions
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