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

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  • Re: Estimation of angular velocity/acceleration from 3x3 matrices

    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.
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