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- W4313306005 abstract "We introduce motions as real six-dimensional vectors. A motion means a rotation and a translation. We define a motion operator which maps unit dual quaternions to motions, and a UDQ operator which maps motions to unit dual quaternions. By these operators, we present the formulation of motion optimization, which is actually a real unconstrained optimization formulation. Then we formulate two classical problems in robot research, i.e., the hand-eye calibration problem and the simultaneous localization and mapping (SLAM) problem as motion optimization problems. This opens a new way to solve these problems via real unconstrained optimization." @default.
- W4313306005 created "2023-01-06" @default.
- W4313306005 creator A5011886900 @default.
- W4313306005 date "2022-12-22" @default.
- W4313306005 modified "2023-09-23" @default.
- W4313306005 title "Motion, Unit Dual Quaternion and Motion Optimization" @default.
- W4313306005 doi "https://doi.org/10.48550/arxiv.2212.11593" @default.
- W4313306005 hasPublicationYear "2022" @default.
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