Using Quaternions for Parametrizing 3D Rotations in Unconstrained Nonlinear Optimization
- In this paper we address the problem of using quaternions in unconstrained nonlinear optimization of 3-D rotations. Quaternions representing rotations have four elements but only three degrees of freedom, since they must be of norm one. This constraint has to be taken into account when applying e.g. the Levenberg-Marquardt algorithm, a method for unconstrained nonlinear optimization widely used in computer vision. We propose an easy to use method for achieving this. Experiments using our parametrization in photo grammetric bündle -adjustment are presented at the end of the paper.
Author: | Jochen SchmidtORCiD, H. Niemann |
---|---|
Parent Title (English): | Vision, Modeling, and Visualization 2001, pages 399-406, Stuttgart, Germany |
Document Type: | Conference Proceeding |
Language: | English |
Publication Year: | 2002 |
Year of first Publication: | 2002 |
Tag: | 3D Rotations; Pattern recognition; Unconstrained NonlinearOptimization |
faculties / departments: | Fakultät für Informatik |
Dewey Decimal Classification: | 0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 000 Informatik, Informationswissenschaft, allgemeine Werke |