対応関係が不明な三次元点集合間の回転行列の推定  [in Japanese] Rotation Matrix Estimation Between Non-Corresponding 3-D Point Sets  [in Japanese]

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Author(s)

Abstract

A method to solve a pose estimation problem, that is, the estimation of a rigid body transformation (in particular, a rotation matrix) that gives the best match between the registration of non-corresponding 3-D point sets is proposed. First, it is shown that the rotation matrix can be estimated by left singular vector matrices derived by the singular value decomposition of the given 3-D point sets. Next, it is shown that the rotation matrix between non-corresponding 3-D point sets whose number of elements is different can be found immediately using the proposed method by numerical simulations.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 31(6), 624-627, 2013-07-15

    The Robotics Society of Japan

References:  8

Codes

  • NII Article ID (NAID)
    10031183149
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    SHO
  • ISSN
    02891824
  • NDL Article ID
    024805213
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  NDL  J-STAGE 
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