Department of Systems and Computer Engineering
Ottawa, Canada

Dr. Howard Schwartz: Publication Abstract

Publication:
  • V.C. Aitken and H.M. Schwartz A Comparison of Rotational Representations in Structure and Motion Estimation for Maneuvering Objects
    • Abstract: Alternative methods are examined for estimating motion and structure of objects undergoing smooth maneuvers through measurements of feature positions in long, multiple-camera image sequences. Performance of extended Kalman filters are compared for Euler angle-axis, roll-pitch-yaw, and quaternion parameterizations of rotational motion. The angle-axis method was found to give the best overall performance with a computationally efficient implementation.