Accession Number : ADA213888

Title :   Some Computational Properties of Rotation Representations.

Descriptive Note : Technical rept.,

Corporate Author : ROCHESTER UNIV NY DEPT OF COMPUTER SCIENCE

Personal Author(s) : Brown, Christopher M.

Report Date : 23 AUG 1989

Pagination or Media Count : 27

Abstract : There are four main parameterizations of the rotation group SO(3). Two of them (rotation angle and axis, and the closely related quaternion components) as well as the matrix form of rotation representation are particularly of interest in computer vision, graphics, and robotics. Some of their computational properties are explored here. Operation counts are given for primitive operations of normalization, conversion, and application of the same or different rotations. The measure of accuracy is taken to be the length and direction of the resulting rotated vector. Some analytical analysis appears, but most conclusions are based on empirical tests at artificially reduced numerical precision. Keywords: Operations counts; Numerical accuracy. (kr)

Descriptors :   *ARTIFICIAL INTELLIGENCE, *COMPUTATIONS, *ROTATION, ACCURACY, ANGLES, COMPUTER GRAPHICS, COUNTING METHODS, NORMALIZING(STATISTICS), NUMERICAL ANALYSIS, OPERATION, ROBOTICS, TEST AND EVALUATION.

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE