About this document
Pose Estimation with Quaternions and Rotations by Camel Hh is a document available to read on EtoBox.
The document discusses linearizing expressions involving unit-length quaternions and rotation matrices for use in pose estimation problems. It presents a first-principles approach to derive multiplicative error terms for these representations. This allows constraint-sensitive linearization and estimation while maintaining the unit-length property of quaternions. The utility of the approach is demonstrated through examples of linearizing a sun sensor measurement and batch weighted least-squares pose estimati
- Author
- Camel Hh
- Language
- EN