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Modelling orientation trajectories


Reference:

Faraway, J. J. and Choe, S. B., 2009. Modelling orientation trajectories. Statistical Modelling, 9 (1), pp. 51-68.

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Official URL:

http://dx.doi.org/10.1177/1471082X0800900104

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Abstract

We describe a modelling approach for orientation trajectories. The initial and final orientations of the object are taken as known and the problem of how the object will transition between the endpoints is considered. Orientations are represented as quaternions and mapped to a tangent space. The deviation from the geodesic connecting the endpoints is introduced and called the slerp residual. Modelling the slerp residuals substantially reduces the distortion caused by mapping to the tangent space. Bézier curves are used to compactly model the trajectories and provide a linkage to potential predictors. Data from an experiment to study human motion while reaching to perform a wide variety of grasps are considered. The orientation trajectories of the hand are modelled in several ways resulting in a simple yet interpretable model.

Details

Item Type Articles
CreatorsFaraway, J. J.and Choe, S. B.
DOI10.1177/1471082X0800900104
Related URLs
URLURL Type
http://dx.doi.org/10.1177/1471082X0800900104Free Full-text
DepartmentsFaculty of Science > Mathematical Sciences
RefereedYes
StatusPublished
ID Code16058

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