Abstract
The motion rotors, or motors, are used to model Euclidean motion in 3D conformal geometric algebra. In this chapter we present a technique for estimating the motor which best transforms one set of noisy geometric objects onto another. The technique reduces to an eigenrotator problem and has some advantages over matrix formulations. It allows motors to be estimated from a variety of geometric data such as points, spheres, circles, lines, planes, directions, and tangents; and the different types of geometric data are combined naturally in a single framework. Also, it excludes the possibility of a reflection unlike some matrix formulations. It returns the motor with the smallest translation and rotation angle when the optimal motor is not unique.
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References
Dorst, L., Valkenburg, R.: Square root and logarithm of rotors in 3D conformal geometric algebra using polar decomposition. In: Dorst, L., Lasenby, J. (eds.) Guide to Geometric Algebra in Practice. Springer, London (2011), Chap. 5 in this book
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Valkenburg, R.J., Kakarala, R.: Lower bounds for the divergence of orientational estimators. IEEE Trans. Inf. Theory 47(6) (2001)
Acknowledgements
This work was supported by the New Zealand Foundation for Research, Science and Technology.
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© 2011 Springer-Verlag London Limited
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Valkenburg, R., Dorst, L. (2011). Estimating Motors from a Variety of Geometric Data in 3D Conformal Geometric Algebra. In: Dorst, L., Lasenby, J. (eds) Guide to Geometric Algebra in Practice. Springer, London. https://doi.org/10.1007/978-0-85729-811-9_2
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DOI: https://doi.org/10.1007/978-0-85729-811-9_2
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