A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is
A general representation for orientational uncertainty using random unit quaternions
Proceedings of the 1994 IEEE International Conference on Robotics and Automation
Previous work in representing transformational uncertainty used a linearized perturbed-transform method which assumes small angle errors. This paper presents an alternative representation using random unit quaternions that makes no strict small angle error assumption. The approach uses a novel family of probability density functions derived by placing a unit-length constraint upon some or all of the degrees of freedom of a Gaussian in Euclidean space. An important property of thisdoi:10.1109/robot.1994.351204 dblp:conf/icra/NicewarnerS94 fatcat:gp5qyps6fvgvvn4ymzahuehlzi