A general representation for orientational uncertainty using random unit quaternions

K.E. Nicewarner, A.C. Sanderson
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 this
more » ... is that it does not directly interrelate angles with spatial components. This paper discusses the properties of Radially Constrained Gaussians (RCG's), then presents speci c cases of uncertain rotations, directions, orientations, 2D transformations, and 3D transformations, then indicates their applications to robotics. d 2 (
doi:10.1109/robot.1994.351204 dblp:conf/icra/NicewarnerS94 fatcat:gp5qyps6fvgvvn4ymzahuehlzi