scholarly journals A branch-and-prune method to solve closure equations in dual quaternions

2021 ◽  
Vol 164 ◽  
pp. 104424
Author(s):  
Arya Shabani ◽  
Josep M. Porta ◽  
Federico Thomas
2021 ◽  
Vol 10 (7) ◽  
pp. 435
Author(s):  
Yongbo Wang ◽  
Nanshan Zheng ◽  
Zhengfu Bian

Since pairwise registration is a necessary step for the seamless fusion of point clouds from neighboring stations, a closed-form solution to planar feature-based registration of LiDAR (Light Detection and Ranging) point clouds is proposed in this paper. Based on the Plücker coordinate-based representation of linear features in three-dimensional space, a quad tuple-based representation of planar features is introduced, which makes it possible to directly determine the difference between any two planar features. Dual quaternions are employed to represent spatial transformation and operations between dual quaternions and the quad tuple-based representation of planar features are given, with which an error norm is constructed. Based on L2-norm-minimization, detailed derivations of the proposed solution are explained step by step. Two experiments were designed in which simulated data and real data were both used to verify the correctness and the feasibility of the proposed solution. With the simulated data, the calculated registration results were consistent with the pre-established parameters, which verifies the correctness of the presented solution. With the real data, the calculated registration results were consistent with the results calculated by iterative methods. Conclusions can be drawn from the two experiments: (1) The proposed solution does not require any initial estimates of the unknown parameters in advance, which assures the stability and robustness of the solution; (2) Using dual quaternions to represent spatial transformation greatly reduces the additional constraints in the estimation process.


2020 ◽  
Vol 8 (1) ◽  
pp. 89-101
Author(s):  
Carlile Lavor ◽  
Rafael Alves ◽  
Michael Souza ◽  
Luis Aragón José

AbstractNuclear Magnetic Resonance (NMR) experiments can be used to calculate 3D protein structures and geometric properties of protein molecules allow us to solve the problem iteratively using a combinatorial method, called Branch-and-Prune (BP). The main step of BP algorithm is to intersect three spheres centered at the positions for atoms i − 3, i − 2, i − 1, with radii given by the atomic distances di−3,i, di−2,i, di−1,i, respectively, to obtain the position for atom i. Because of uncertainty in NMR data, some of the distances di−3,i should be represented as interval distances [{\underline{d}_{i - 3,i}},{\bar d_{i - 3,i}}], where {\underline{d}_{i - 3,i}} \le {d_{i - 3,i}} \le {\bar d_{i - 3,i}}. In the literature, an extension of the BP algorithm was proposed to deal with interval distances, where the idea is to sample values from [{\underline{d}_{i - 3,i}},{\bar d_{i - 3,i}}]. We present a new method, based on conformal geometric algebra, to reduce the size of [{\underline{d}_{i - 3,i}},{\bar d_{i - 3,i}}], before the sampling process. We also compare it with another approach proposed in the literature.


2016 ◽  
Vol 26 (1) ◽  
pp. 231-239 ◽  
Author(s):  
M. Ulrich ◽  
C. Steger
Keyword(s):  

2015 ◽  
Vol 7 (4) ◽  
Author(s):  
Gábor Hegedüs ◽  
Josef Schicho ◽  
Hans-Peter Schröcker

We use the recently introduced factorization theory of motion polynomials over the dual quaternions and cubic interpolation on quadrics for the synthesis of closed kinematic loops with six revolute joints that visit four prescribed poses. The resulting 6R linkages are special in the sense that the relative motions of all links are rational. They exhibit certain elegant properties such as symmetry in the rotation angles and, at least in theory, full-cycle mobility. Our synthesis approach admits either no solution or two one-parametric families of solutions. We suggest strategies for picking good solutions from these families. They ensure a fair coupler motion and optimize other linkage characteristics such as total rotation angle or linkage size. A comprehensive synthesis example is provided.


2017 ◽  
Vol 112 (3) ◽  
pp. 56a
Author(s):  
Thérèse E. Malliavin ◽  
Bradley Worley ◽  
Benjamin Bardiaux ◽  
Guillaume Bouvier ◽  
Mohamed Machat ◽  
...  

Sign in / Sign up

Export Citation Format

Share Document