@inproceedings{216deb56d5c74bfab2b51dac5f4d772a,
title = "Constructing Kinematic Confidence Regions with Double Quaternions",
abstract = "A spatial displacement as an element of SE(3) can be approximated by a 4D rotation, which is an element of SO(4). In this way, the problem of constructing confidence regions of uncertain spatial displacements may be studied as that of constructing confidence ellipsoids in SO(4). In this light, a double-quaternion formulation of kinematic confidence regions is presented that approximately preserve the geometry of SE(3). Examples are provided to demonstrate the efficacy of this approach in comparison with the dual-quaternion formulation.",
keywords = "Co-variance matrices, Confidence regions, Double quaternions, Dual quaternions, Quaternions, Spatial displacements",
author = "Ge, \{Q. Jeffrey\} and Zihan Yu and Anurag Purwar and Langer, \{Mark P.\}",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.; Joint Mechanical Systems and Robotics and RoManSy Symposium, MSR-RoManSy 2024 ; Conference date: 22-05-2024 Through 25-05-2024",
year = "2024",
doi = "10.1007/978-3-031-60618-2\_18",
language = "English",
isbn = "9783031606175",
series = "Mechanisms and Machine Science",
publisher = "Springer Science and Business Media B.V.",
pages = "215--230",
editor = "Pierre Larochelle and McCarthy, \{J. Michael\} and Lusk, \{Craig P.\}",
booktitle = "Proceedings of MSR-RoManSy 2024 - Combined IFToMM Symposium of RoManSy and USCToMM Symposium on Mechanical Systems and Robotics",
}