Estimation of Relative Orientation Using Dual Quaternion
Date Issued
2009
Date
2009
Author(s)
Lin, Yang-Hsing
Abstract
In this thesis, we use dual quaternion to solve relative orientation in close form, which replaces the traditional way of coplanarity condition and least square solution. The best benefit of dual-quaternion is that it is able to handle rotation and translation simultaneously and apply continuous product of dual quaternion operating with a kind of special vector－dual vector to express a series of rotation and translation.We provide two kinds of method to solve the problem – Closed Form Solution and Linearized Iteration Method. In Closed Form Solution, we use two cameras to observe the target lines, and find the lines respect to RIGHT coordinate system. And find the relative orientation in close form by finding eigenvectors. Because of the benefit of dual quaternion－easily to handle and express a series of transformation, we make above solution more practically and reality using dual-quaternion. While in the second method – Linearized Iteration Method, we use only one camera to deal with the same problem. We find the relative orientation by comparing the projection of lines respect to LEFT and RIGHT coordinate systems. The projection of lines respect to RIGHT coordinate system is the photo we take. Since there must be lost of information in the 3-D (lines in space) to 2-D (photo), we use linearized iteration to make up the lost.n the end, we make an experiment to clarify our algorithm by taking a photo and measure the position of targets by GPS practically.
Subjects
relative orientation
quaternion
dual quaternion
Type
thesis
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