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Tracking the spin on a ping pong ball with the quaternion Bingham filter

Author(s)
Glover, Jared; Kaelbling, Leslie P.
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Abstract
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 tracking of large-error (high-entropy) rotational distributions. Experimental comparison to a leading EKF-based filtering approach on both synthetic signals and a ball-tracking dataset shows that the Quaternion Bingham Filter (QBF) has lower tracking error than the EKF, particularly when the state is highly dynamic. We present two versions of the QBF- suitable for tracking the state of first- and second-order rotating dynamical systems.
Date issued
2014-05
URI
http://hdl.handle.net/1721.1/100725
Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Journal
Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Glover, Jared, and Leslie Pack Kaelbling. “Tracking the Spin on a Ping Pong Ball with the Quaternion Bingham Filter.” 2014 IEEE International Conference on Robotics and Automation (ICRA) (May 2014).
Version: Author's final manuscript
ISBN
978-1-4799-3685-4

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