Research

Modelling orientation trajectories


Reference:

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

This is the latest version of this item.

Related documents:

[img]
Preview
PDF (author's accepted version) - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
Download (287kB) | Preview

    Official URL:

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

    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.and Choe, S. B.
    DOI10.1177/1471082X0800900104
    DepartmentsFaculty of Science > Mathematical Sciences
    Publisher Statementquatpaper.pdf: ©SAGE 'Version 2'.
    RefereedYes
    StatusPublished
    ID Code25610

    Export

    Available Versions of this Item

    Actions (login required)

    View Item

    Document Downloads

    More statistics for this item...