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Reseach Article

Overcoming Singularity of Euler Angles in Robot Pose Estimation using Axis Rotation

by Mohammad Ehab Ragab
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 128 - Number 5
Year of Publication: 2015
Authors: Mohammad Ehab Ragab
10.5120/ijca2015906429

Mohammad Ehab Ragab . Overcoming Singularity of Euler Angles in Robot Pose Estimation using Axis Rotation. International Journal of Computer Applications. 128, 5 ( October 2015), 6-12. DOI=10.5120/ijca2015906429

@article{ 10.5120/ijca2015906429,
author = { Mohammad Ehab Ragab },
title = { Overcoming Singularity of Euler Angles in Robot Pose Estimation using Axis Rotation },
journal = { International Journal of Computer Applications },
issue_date = { October 2015 },
volume = { 128 },
number = { 5 },
month = { October },
year = { 2015 },
issn = { 0975-8887 },
pages = { 6-12 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume128/number5/22867-2015906429/ },
doi = { 10.5120/ijca2015906429 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T23:21:05.632069+05:30
%A Mohammad Ehab Ragab
%T Overcoming Singularity of Euler Angles in Robot Pose Estimation using Axis Rotation
%J International Journal of Computer Applications
%@ 0975-8887
%V 128
%N 5
%P 6-12
%D 2015
%I Foundation of Computer Science (FCS), NY, USA
Abstract

In this paper, the singularity of Euler angles rotation representation in robot pose estimation is overcome. This is accomplished through coordinate system rotating and sign-adjusting of the intrinsic parameter camera matrices. A stereo pair is attached to the robot and the extended Kalman filter is used as a recursive pose estimator. An extensive set of synthetic and real experiments have been carried out under various motion patterns in both singular and nonsingular settings. The approach has proved accurate in face of singularity and stable during Jacobian calculations as well.

References
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Index Terms

Computer Science
Information Sciences

Keywords

Pose Estimation Stereo Euler Angles Extended Kalman Filter.