A spatial displacement as an element of can be approximated by a 4D rotation, which is an element of . In this way, the problem of constructing confidence regions of uncertain spatial displacements may be studied as that of constructing confidence ellipsoids in . In this light, a double-quaternion formulation of kinematic confidence regions is presented that approximately preserve the geometry of . Examples are provided to demonstrate the efficacy of this approach in comparison with the dual-quaternion formulation.
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| http://dx.doi.org/10.1007/978-3-031-60618-2_18 | DOI Listing |
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