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2001

Using Quaternions for Parametrizing 3-D Rotations in Unconstrained Nonlinear Optimization

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Using Quaternions for Parametrizing 3-D Rotations in Unconstrained Nonlinear Optimization
In this paper we address the problem of using quaternions in unconstrained nonlinear optimization of 3-D rotations. Quaternions representing rotations have four elements but only three degrees of freedom, since they must be of norm one. This constraint has to be taken into account when applying e. g. the Levenberg-Marquardt algorithm, a method for unconstrained nonlinear optimization widely used in computer vision. We propose an easy to use method for achieving this. Experiments using our parametrization in photogrammetric bundle-adjustment are presented at the end of the paper.
Jochen Schmidt, Heinrich Niemann
Added 31 Oct 2010
Updated 31 Oct 2010
Type Conference
Year 2001
Where VMV
Authors Jochen Schmidt, Heinrich Niemann
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