A comparison of four algorithms for estimating 3D rigid transformations:
Abstract: "A common need in machine vision is to compute the 3-D rigid transformation that exists between two sets of points in a coordinate system for which corresponding pairs have been determined. Several solutions to this problem have been devised. In this paper a comparative analysis of fo...
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Edinburgh
1995
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| Schriftenreihe: | University <Edinburgh> / Department of Artificial Intelligence: DAI research paper
737 |
| Schlagworte: | |
| Zusammenfassung: | Abstract: "A common need in machine vision is to compute the 3-D rigid transformation that exists between two sets of points in a coordinate system for which corresponding pairs have been determined. Several solutions to this problem have been devised. In this paper a comparative analysis of four popular algorithms is given. Each of them computes the translation and rotation of the transform in closed-form, as the solution to a least squares formulation of the problem. They differ in terms of the representation of the transform and the method of solution, using respectively: singular value decomposition of a matrix, orthonormal matrices, unit quaternions and dual quaternions. This comparison presents results of several experiments designed to determine (1) the accuracy of each algorithm in the presence of different levels of noise, (2) the stability of each technique with respect to degenerate data sets, and (3) the relative computation time of each approach for different sizes and forms of data." |
| Beschreibung: | 28 S. graph. Darst. |
Internformat
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| 100 | 1 | |a Lorusso, A. |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a A comparison of four algorithms for estimating 3D rigid transformations |c Lorusso, A ; Eggert, D. W. ; Fisher, R. B. |
| 264 | 1 | |a Edinburgh |c 1995 | |
| 300 | |a 28 S. |b graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
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| 490 | 1 | |a University <Edinburgh> / Department of Artificial Intelligence: DAI research paper |v 737 | |
| 520 | 3 | |a Abstract: "A common need in machine vision is to compute the 3-D rigid transformation that exists between two sets of points in a coordinate system for which corresponding pairs have been determined. Several solutions to this problem have been devised. In this paper a comparative analysis of four popular algorithms is given. Each of them computes the translation and rotation of the transform in closed-form, as the solution to a least squares formulation of the problem. They differ in terms of the representation of the transform and the method of solution, using respectively: singular value decomposition of a matrix, orthonormal matrices, unit quaternions and dual quaternions. This comparison presents results of several experiments designed to determine (1) the accuracy of each algorithm in the presence of different levels of noise, (2) the stability of each technique with respect to degenerate data sets, and (3) the relative computation time of each approach for different sizes and forms of data." | |
| 650 | 4 | |a Computer vision | |
| 650 | 4 | |a Motion | |
| 650 | 4 | |a Transformations (Mathematics) | |
| 700 | 1 | |a Eggert, David W. |e Verfasser |4 aut | |
| 700 | 1 | |a Fisher, Robert B. |e Verfasser |4 aut | |
| 810 | 2 | |a Department of Artificial Intelligence: DAI research paper |t University <Edinburgh> |v 737 |w (DE-604)BV010450646 |9 737 | |
| 999 | |a oai:aleph.bib-bvb.de:BVB01-007394908 | ||
Datensatz im Suchindex
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| author | Lorusso, A. Eggert, David W. Fisher, Robert B. |
| author_facet | Lorusso, A. Eggert, David W. Fisher, Robert B. |
| author_role | aut aut aut |
| author_sort | Lorusso, A. |
| author_variant | a l al d w e dw dwe r b f rb rbf |
| building | Verbundindex |
| bvnumber | BV011043612 |
| ctrlnum | (OCoLC)34820500 (DE-599)BVBBV011043612 |
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| id | DE-604.BV011043612 |
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| indexdate | 2024-07-09T18:03:04Z |
| institution | BVB |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-007394908 |
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| physical | 28 S. graph. Darst. |
| publishDate | 1995 |
| publishDateSearch | 1995 |
| publishDateSort | 1995 |
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| series2 | University <Edinburgh> / Department of Artificial Intelligence: DAI research paper |
| spelling | Lorusso, A. Verfasser aut A comparison of four algorithms for estimating 3D rigid transformations Lorusso, A ; Eggert, D. W. ; Fisher, R. B. Edinburgh 1995 28 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier University <Edinburgh> / Department of Artificial Intelligence: DAI research paper 737 Abstract: "A common need in machine vision is to compute the 3-D rigid transformation that exists between two sets of points in a coordinate system for which corresponding pairs have been determined. Several solutions to this problem have been devised. In this paper a comparative analysis of four popular algorithms is given. Each of them computes the translation and rotation of the transform in closed-form, as the solution to a least squares formulation of the problem. They differ in terms of the representation of the transform and the method of solution, using respectively: singular value decomposition of a matrix, orthonormal matrices, unit quaternions and dual quaternions. This comparison presents results of several experiments designed to determine (1) the accuracy of each algorithm in the presence of different levels of noise, (2) the stability of each technique with respect to degenerate data sets, and (3) the relative computation time of each approach for different sizes and forms of data." Computer vision Motion Transformations (Mathematics) Eggert, David W. Verfasser aut Fisher, Robert B. Verfasser aut Department of Artificial Intelligence: DAI research paper University <Edinburgh> 737 (DE-604)BV010450646 737 |
| spellingShingle | Lorusso, A. Eggert, David W. Fisher, Robert B. A comparison of four algorithms for estimating 3D rigid transformations Computer vision Motion Transformations (Mathematics) |
| title | A comparison of four algorithms for estimating 3D rigid transformations |
| title_auth | A comparison of four algorithms for estimating 3D rigid transformations |
| title_exact_search | A comparison of four algorithms for estimating 3D rigid transformations |
| title_full | A comparison of four algorithms for estimating 3D rigid transformations Lorusso, A ; Eggert, D. W. ; Fisher, R. B. |
| title_fullStr | A comparison of four algorithms for estimating 3D rigid transformations Lorusso, A ; Eggert, D. W. ; Fisher, R. B. |
| title_full_unstemmed | A comparison of four algorithms for estimating 3D rigid transformations Lorusso, A ; Eggert, D. W. ; Fisher, R. B. |
| title_short | A comparison of four algorithms for estimating 3D rigid transformations |
| title_sort | a comparison of four algorithms for estimating 3d rigid transformations |
| topic | Computer vision Motion Transformations (Mathematics) |
| topic_facet | Computer vision Motion Transformations (Mathematics) |
| volume_link | (DE-604)BV010450646 |
| work_keys_str_mv | AT lorussoa acomparisonoffouralgorithmsforestimating3drigidtransformations AT eggertdavidw acomparisonoffouralgorithmsforestimating3drigidtransformations AT fisherrobertb acomparisonoffouralgorithmsforestimating3drigidtransformations |