Introduction

Geometrical interpretation of rotation quaternions
Conclusions
References

Quaternion-based attitude representation by linear
combination of matrix operators
Rigoberto Juarez-Salazar1 , Carlos Robledo-Sanchez2 , and W.
Fermin Guerrero-Sanchez2
1

´
Instituto Tecnologico
Superior de Zacapoaxtla
´ de Ingenier´ıa Informatica
´
Division

2

´
´
Benemerita
Universidad Autonoma
de Puebla
´
Facultad de Ciencias F´ısico Matematicas

´
XLVII Congreso Nacional de la Sociedad Matematica
Mexicana
´
Durango, Mexico.
Octubre, 2014.

1 / 20

´
Rigoberto Juarez
Salazar

rjuarezsalazar@gmail.com

Quaternion attitude representation by linear combination of matrix operators

Introduction
Geometrical interpretation of rotation quaternions
Conclusions
References

Content

2 / 20

1

Introduction
Optical 3D imaging system
The motivation problem
Rotation quaternions

2

Geometrical interpretation of rotation quaternions
Alternative representation of rotation quaternions
Graphic illustration
Preliminary experimental results

3

Conclusions

4

References

´
Rigoberto Juarez
Salazar

rjuarezsalazar@gmail.com

Quaternion attitude representation by linear combination of matrix operators

com Quaternion attitude representation by linear combination of matrix operators .Introduction Geometrical interpretation of rotation quaternions Conclusions References Optical 3D imaging system The motivation problem Rotation quaternions Introduction — Optical 3D imaging system Figura : Optical setup of a imaging system for 3D data acquisition 3 / 20 ´ Rigoberto Juarez Salazar rjuarezsalazar@gmail.

1) A 3D imaging system is very useful in many areas such as medical. Figura : Survey of dental apparatus.Introduction Geometrical interpretation of rotation quaternions Conclusions References Optical 3D imaging system The motivation problem Rotation quaternions Introduction — Optical 3D imaging system (Cont. industrial and engineering because of its inherent features such as noninvasive. fast. and high accuracy.com Quaternion attitude representation by linear combination of matrix operators . 4 / 20 ´ Rigoberto Juarez Salazar rjuarezsalazar@gmail.

Introduction Geometrical interpretation of rotation quaternions Conclusions References Optical 3D imaging system The motivation problem Rotation quaternions Introduction — Optical 3D imaging system (Cont. fast. 5 / 20 ´ Rigoberto Juarez Salazar rjuarezsalazar@gmail. 3) A 3D imaging system is very useful in many areas such as medical. and high accuracy. industrial and engineering because of its inherent features such as noninvasive.com Quaternion attitude representation by linear combination of matrix operators . Figura : 3D CAD file for inverse engineering of a mouse design digitized using a 3D imaging system.

Figura : 3D imaging technology for accident scene investigation. industrial and engineering because of its inherent features such as noninvasive. 4) A 3D imaging system is very useful in many areas such as medical.Introduction Geometrical interpretation of rotation quaternions Conclusions References Optical 3D imaging system The motivation problem Rotation quaternions Introduction — Optical 3D imaging system (Cont. 6 / 20 ´ Rigoberto Juarez Salazar rjuarezsalazar@gmail. fast. and high accuracy.com Quaternion attitude representation by linear combination of matrix operators .

Introduction Geometrical interpretation of rotation quaternions Conclusions References Optical 3D imaging system The motivation problem Rotation quaternions Introduction — The motivation problem Extrinsic camera parameters calibration For three-dimensional surface object reconstruction. it is necessary to known the so-called extrinsic camera parameters (spatial and angular positions). γ θ ϕ z y z z y0 θ Camera z0 γ x0 x 7 / 20 ´ Rigoberto Juarez Salazar ϕ rjuarezsalazar@gmail.com y Quaternion attitude representation by linear combination of matrix operators .

Introduction Geometrical interpretation of rotation quaternions Conclusions References Optical 3D imaging system The motivation problem Rotation quaternions Introduction — Rotation quaternions Unitary quaternions or rotation quaternions are a very efficient tool to perform three-dimensional rotations. by the simple expression y = qxq ∗ (1) where y is the rotated version of the quaternion x with q being the unitary quaternion θ θ q = cos + u sin . 2 2 with θ being the rotation angle around the rotation axis defined by the unitary three-dimensional vector u.com Quaternion attitude representation by linear combination of matrix operators . (2) u x e3 y θ e2 e1 8 / 20 ´ Rigoberto Juarez Salazar rjuarezsalazar@gmail.

Unfortunately.com Quaternion attitude representation by linear combination of matrix operators . In this talk we will present an alternative representation of quaternion rotations by using matrix operators. for some applications the quaternion product is not intuitive and its mathematical manipulation is not alway easy. They are computationally fast and stable.) Three-dimensional rotations by unitary quaternions have a simple and brief notation. u x e3 y θ e2 e1 9 / 20 ´ Rigoberto Juarez Salazar rjuarezsalazar@gmail.Introduction Geometrical interpretation of rotation quaternions Conclusions References Optical 3D imaging system The motivation problem Rotation quaternions Introduction — Rotation quaternions (Cont.

for the three-dimensional rotation of point v . Alternatively. (5) v v cos ρ + u × v sin ρ After that.Introduction Geometrical interpretation of rotation quaternions Conclusions References Alternative representation of rotation quaternions Graphic illustration Preliminary experimental results Quaternion rotation Let q be a unitary quaternion given by q = cos ρ + u sin ρ. qvq ∗ . (4) u sin ρ Then. (3) where ρ = θ/2 with θ being the rotation angle around the unitary three-dimensional vector u. (3) can be represented as   cos ρ q= . the rotation of v is performed by      0 ∗ −u · v sin ρ cos ρ q q = . we have the first quaternion product     0 −u · v sin ρ q = .com (6) Quaternion attitude representation by linear combination of matrix operators . v v cos ρ + u × v sin ρ −u sin ρ 10 / 20 ´ Rigoberto Juarez Salazar rjuarezsalazar@gmail.

by using the vector triple product identity: q a × (b × c) = b(a · c) − c(a · b). v (u · v sin2 ρ)u + v cos2 ρ + 2 sin ρ cos ρ(u × v ) + u × (u × v ) sin2 ρ (7) Now. substituting the last equality in (7). we have that w = 2(u · v sin2 ρ)u + (cos2 ρ − sin2 ρ)v + 2 sin ρ cos ρ(u × v ). (9) we have Then. 11 / 20 ´ Rigoberto Juarez Salazar rjuarezsalazar@gmail.Introduction Geometrical interpretation of rotation quaternions Conclusions References Alternative representation of rotation quaternions Graphic illustration Preliminary experimental results Quaternion rotation or     0 0 ∗ q = .com Quaternion attitude representation by linear combination of matrix operators . (10) where w is the rotated version of v . (8) u × (u × v ) = u(u · v ) − v (u · u).

(14) Finally.com Quaternion attitude representation by linear combination of matrix operators . 0 (11) (12) we have for w: w = Qv . we can reach or through a simplification procedure as: . with u × being the skew-symmetric matrix:  0 −u3 × 0 u =  u3 −u2 u1  u2 −u1  . (13) Q = 2 sin2 ρuu T + (cos2 ρ − sin2 ρ)I + 2 sin ρ cos ρu × . u × v = u× v .Introduction Geometrical interpretation of rotation quaternions Conclusions References Alternative representation of rotation quaternions Graphic illustration Preliminary experimental results Quaternion rotation By using the matrix representation of both inner and cross vectorial products: (u · v )u = uu T v . 12 / 20 ´ Rigoberto Juarez Salazar rjuarezsalazar@gmail.

Introduction Geometrical interpretation of rotation quaternions Conclusions References Alternative representation of rotation quaternions Graphic illustration Preliminary experimental results Quaternion rotation Q = cos2 ρI − sin2 ρH + 2 sin ρ cos ρu × . (15) where H is the Householder matrix given by H = I − 2uu T .com (16) Quaternion attitude representation by linear combination of matrix operators . 13 / 20 ´ Rigoberto Juarez Salazar rjuarezsalazar@gmail.

8 0.com 0 x Quaternion attitude representation by linear combination of matrix operators .5 0 −0.6 −0.4 −0.2 1 −0.Introduction Geometrical interpretation of rotation quaternions Conclusions References Alternative representation of rotation quaternions Graphic illustration Preliminary experimental results Geometrical interpretation of quaternion rotation Geometrical description of quaternion rotation 1 z 0.8 y 14 / 20 ´ Rigoberto Juarez Salazar 0.5 0 −0.2 −1 rjuarezsalazar@gmail.4 0.6 0.

Introduction Geometrical interpretation of rotation quaternions Conclusions References Alternative representation of rotation quaternions Graphic illustration Preliminary experimental results Preliminary experimental results 15 / 20 ´ Rigoberto Juarez Salazar rjuarezsalazar@gmail.com Quaternion attitude representation by linear combination of matrix operators .

Introduction Geometrical interpretation of rotation quaternions Conclusions References Alternative representation of rotation quaternions Graphic illustration Preliminary experimental results Preliminary experimental results 15 / 20 ´ Rigoberto Juarez Salazar rjuarezsalazar@gmail.com Quaternion attitude representation by linear combination of matrix operators .

Introduction Geometrical interpretation of rotation quaternions Conclusions References Alternative representation of rotation quaternions Graphic illustration Preliminary experimental results Preliminary experimental results (a) 16 / 20 ´ Rigoberto Juarez Salazar (b) rjuarezsalazar@gmail.com (c) Quaternion attitude representation by linear combination of matrix operators .

17 / 20 ´ Rigoberto Juarez Salazar rjuarezsalazar@gmail. Thus.Introduction Geometrical interpretation of rotation quaternions Conclusions References Conclusions An equivalent description of quaternion rotation by using matrix operators (useful for its geometrical insight intuitive representation) was presented. The obtained preliminary results show that the derived equations are efficients for camera calibration (angular position). For students this approach is attractive because the difficult concept of quaternion mapping is visualized as a linear combination of known transformations. a 3D object reconstruction was reached.com Quaternion attitude representation by linear combination of matrix operators . for example in minicomputers or microcontrollers. The presented approach allows direct implementation in computational routines.

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com Quaternion attitude representation by linear combination of matrix operators .Introduction Geometrical interpretation of rotation quaternions Conclusions References Thank you very much for your attention Any question? 20 / 20 ´ Rigoberto Juarez Salazar rjuarezsalazar@gmail.