Pose Interpolation with Dual Quaternion Series
Transcript of Pose Interpolation with Dual Quaternion Series
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Pose Interpolation with Dual Quaternion Series
Ekaterina [email protected]
Supervisor: Benjamin Busam
Intermediate Presentation
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Goal of the project
June 29, 2017Pose Interpolation with Dual Quaternion Series Slide 2
Implement algorithm for smooth interpolation of pose (rotation and translation) using dual quaternions
[1] Documentation – Kinematic toolbox, Daniel Klawitter, Technische Universität Dresden, March 29, 2010
Interpolation based on four measurements [1]
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Background and Motivation
June 29, 2017Pose Interpolation with Dual Quaternion Series Slide 3
Real-time tracking systems benefits from interpolation- animation- multi-modal sensor
Quaternions- robust- fast- efficient
Dual quaternion for rigid-body motions
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Existing solutions
June 29, 2017Pose Interpolation with Dual Quaternion Series Slide 4
Linear interpolation of Euler angles or rotation matrices Quaternions:- Linear interpolation- SLERP
Dual quaternions:- Screw linear upsampling- Dual quaternion linear upsampling
[2] Quaternionic Upsampling: Hyperspherical Techniques for 6 DoF Pose Tracking, Benjamin Busam, Marco Esposito, Benjamin Frisch, Nassir Navab, 3DV, 2016
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Existing solutions. Examples
June 29, 2017Pose Interpolation with Dual Quaternion Series Slide 5
Spherical linear interpolation VS Linear interpolation
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Existing solutions. Examples
June 29, 2017Pose Interpolation with Dual Quaternion Series Slide 6
Linear interpolation for dual quaternions
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Cumulative basis [3]: - Bezier curve - Quadric Bezier curves (QB) [1]
- Hermite curves - B-spline curves
Aitken [1]
Methods and materials
June 29, 2017Pose Interpolation with Dual Quaternion Series Slide 7
Extended Aitken algorithm [1]
[3] A General Construction Scheme for Unit Quaternion Curves with Simple High Order Derivatives - Myoung-Jun Kim, Myung-Soo Kim, Sung Yong Shin (1995)[1] Documentation – Kinematic toolbox, Daniel Klawitter, Technische Universität Dresden, March 29, 2010
QB curve construction [1]
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Experiments. Aitken interpolation
June 29, 2017Pose Interpolation with Dual Quaternion Series Slide 8
51 poses, based on 3 measurements
0,028 sec
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Experiments. QB interpolation
June 29, 2017Pose Interpolation with Dual Quaternion Series Slide 9
51 poses, based on 3 measurements
0,006 sec
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Work Packages and Milestones
June 29, 2017Pose Interpolation with Dual Quaternion Series Slide 10
Gantt Chart [4]
[4] Created by smartsheets.com
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Work Packages and Milestones
June 29, 2017Pose Interpolation with Dual Quaternion Series Slide 11
Gantt Chart [4]
[4] Created by smartsheets.com
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Project risks
June 29, 2017Pose Interpolation with Dual Quaternion Series Slide 12
Schedule risks- incorrect time management- lack of time
Technical risks- integration with external system- not real-time performance
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Activity Diagram
June 29, 2017Pose Interpolation with Dual Quaternion Series Slide 13