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Automatic Calculation of a Transformation Matrix Between Two Frames
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AI
DOI：10.1109/ACCESS.2018.2799173.png)
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摘要
En 中文
This paper presents a novel strategy for the automatic calculation of a homogeneous transformation matrix between two frames given a set of matched position measurements of objects as observed in both frames. The transformation matrix is calculated by applying a linear regression to matched data in two coordinate frames. This method scales linearly with the number of data points, enabling it to be used in a wide variety of applications without requiring large amounts of processing time. The automatic transformation matrix calculation is demonstrated to work in a real-world application and produce deterministic results. The error on the transformation matrix calculation was found to be low, making this an ideal method for the easy calculation of transformation matrices.
Keyword:
Automatic control
kinematics
least squares approximation
linear algebra
mathematical programming
mobile robots
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期刊
IF:
3.6
论文数:
9.8W
被引数:
29.4W
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