1402054378

# 3 application examples the above algorithms was

This preview shows page 1. Sign up to view the full content.

This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: eeply discussed by means of different sets of data (§3). 2. PROPOSED ALGORITHM 2.1. Generic approach The mathematical basis of our works have been explained in two previous works [Carrino et al, 2002 and 2004], in this paper we put our attention about the specific variation related to the studied case. The extracted integral feature is represented by a finite set of points, that is expressed by the (1) ⎧ m i = mxi , myi , mzi ,1 T ⎫ ⎪ ⎪ (1) WM = ⎨ ⎬, : mxi , myi , mzi ∈ ℜ , i = 1...M ⎪ ⎪ ⎩ ⎭ [ By applying a homogeneous coordinate transformation T(t) the extracted integral feature is roto-translated so that the measured points minimize their distance from the reference element. In this paper, the Roll-Pich-Yaw angles are used to describe the spatial rotation and translation, so the transformation matrix can be described as: ⎡CϕCθ CϕSθSψ − SϕCψ CϕSθCψ + SϕSψ tx ⎤ ⎢ SϕCθ SϕSθSψ + CϕCψ SϕSθCψγ − CϕSψ t ⎥ y ⎥. T( t ) = ⎢ (2) ⎢ − Sθ CθSψ CθCψ tz...
View Full Document

Ask a homework question - tutors are online