Yet another representation of SO(3) by spherical functions for pose estimation
fcv2010_P2-19.pdf 879 KB
We propose a novel representation of SO(3) pose in 3 degrees-of-freedom (DOF)for view-based pose estimation. First we show that a conventional representation of pose in 1DOF is a Fourier basis, and extend the observation to 2 DOF with spherical harmonics. Thenwe represent 3 DOF pose with spherical functions that are continuous orthonormal basis onSO(3), and give transformations from the spherical functions representation to a quaternionand a rotation matrix.
Proceedings of FCV 2010 : The 16th Korea-Japan Joint Workshop on Frontiers of Computer Vision
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FCV 2010 Committee
Copyright (c) 2010 Authors
Graduate School of Engineering