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

Chris Barr
11-13-2007, 06:40 AM
I found a useful quaternion calculator that I have been using for 3d animations from vicon measurements. It is called DIZZY and can be downloaded free of charge at :



Chris Barr

PhD Student
University of Strathclyde
> Date: Mon, 12 Nov 2007 17:52:17 +0100> From: borghese@DSI.UNIMI.IT> Subject: Re: [BIOMCH-L] Estimation of angular velocity/acceleration from 3x3 matrices> To: BIOMCH-L@NIC.SURFNET.NL> > 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.> > ---------------------------------------------------------------> Information about BIOMCH-L: http://www.Biomch-L.org> Archives: http://listserv.surfnet.nl/archives/Biomch-L.html> ---------------------------------------------------------------
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