View Full Version : Re: Estimation of angular velocity/acceleration from 3x3 matrices

11-12-2007, 02:52 AM
Dear all,

I would sugget to look at quaternion description of rotation angles.
It does not suffer of gimbal lock.
I would then compute the orientation of the body in each frame with
respect to the starting frame.
I would derive the inter-frame change in orientation from the
sequence of frame orientation matrix.

The transformation of a quaternion from to a rotation matrix can be
found for instance on the book of Faugeras on 3D vision, a
geometrical viewpoint.

Best regards

Prof. Ing. Alberto Borghese
Department of Computer Science - University of Milano
Via Comelico, 39 - 20135 Milano, Italy
Telephone: +39-02-503.16325 Fax: +39-02-503.16373.
Email: borghese@dsi.unimi.it Skype: borgheseA

Laboratory of Applied Intelligent Systems (AIS Lab)
Via Celoria 20, Edificio CTU-9, http://ais-lab.dsi.unimi.it/
Telephone: +39.02-503.14011 Fax: +39-02-503.14012.
Mobile: +39-349-262.11.92.