Tracking 3-D Rotations with the Quaternion Bingham Filter
A deterministic method for sequential estimation of 3-D rotations is presented. The Bingham distribution is used to represent uncertainty directly on the unit quaternion hypersphere. Quaternions avoid the degeneracies of other 3-D orientation representations, while the Bingham distribution allows tr...
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2013
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| Online Access: | http://hdl.handle.net/1721.1/78248 |