rally car frames - purdue university
TRANSCRIPT
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Rally Car Frames
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End Effector: Two-Fingered Hand
q1
q2
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TerminatorBot Crawling
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Rotation Matrices
• Around a unit axis is simple:
• Around an arbitrary axis is more complex:
R(q,u) =
u must be a unit vector!!! (If not magnitude of 1, then normalize)
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Rotation Quaternions
• Quaternions are multi-dimensional
complex numbers
q = a + bi + cj + dk
• Used all the time in computer graphics and
video games
• Rotation Quaternions are special:
q = cos(q/2) + sin(q/2) (uxi + uyj + uzk)
u must be a unit vector!!!
Rotation Quaternions are unit Quaternions!
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Camera Calibration
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Finding Extrinsic and Intrinsic
Parameters
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Use a “Grid” to Find Transform