2026-04-17T17:28:57Zhttps://recercat.cat/oai/request

oai:recercat.cat:2117/1243842026-02-02T09:41:45Zcom_2072_1033col_2072_452950

Accurate computation of quaternions from rotation matrices Sarabandi, Soheil Thomas, Federico Institut de Robòtica i Informàtica Industrial Universitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots Àrees temàtiques de la UPC::Matemàtiques i estadística::Investigació operativa::Optimització optimisation Quaternions Rotation matrices Classificació INSPEC::Optimisation The final publication is available at link.springer.com The main non-singular alternative to 3×3 proper orthogonal matrices, for representing rotations in R3, is quaternions. Thus, it is important to have reliable methods to pass from one representation to the other. While passing from a quaternion to the corresponding rotation matrix is given by Euler-Rodrigues formula, the other way round can be performed in many different ways. Although all of them are algebraically equivalent, their numerical behavior can be quite different. In 1978, Shepperd proposed a method for computing the quaternion corresponding to a rotation matrix which is considered the most reliable method to date. Shepperd’s method, thanks to a voting scheme between four possible solutions, always works far from formulation singularities. In this paper, we propose a new method which outperforms Shepperd’s method without increasing the computational cost. Peer Reviewed Postprint (author's final draft) 2018 Conference report Sarabandi, S., Thomas, F. Accurate computation of quaternions from rotation matrices. A: International Conference on Advances in Robot Kinematics. "Vol 8 of Springer Proceedings in Advanced Robotics". Springer International Publishing, 2018, p. 39-46. https://hdl.handle.net/2117/124384 10.1007/978-3-319-93188-3_5 eng https://link.springer.com/chapter/10.1007%2F978-3-319-93188-3_5 info:eu-repo/grantAgreement/MINECO/2PE/MDM-2016-0656 Open Access 8 p. application/pdf Springer International Publishing