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Filtering transform over time

asked 2012-03-07 13:01:19 -0600

ravenII gravatar image

updated 2012-03-07 13:02:03 -0600

I am using ar_kinect and I'm getting some noise in the orientation. Since my camera motion is relatively slow I wanted to filter the transforms over time. I have designed an FIR filter. I was wondering what is the best way of filtering the transformations.

I was not sure if filtering quaternions would make any sense. Should I convert to RPY and apply the filter?

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answered 2012-03-08 15:37:34 -0600

tfoote gravatar image

You should filter on the quaternions. Their main value is that they don't have singularities and can be cleanly interpolated, which are important if you want to filter.

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answered 2015-04-09 20:00:06 -0600

msieber gravatar image

Very Old, sorry. but is there a filter for that purpose?

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Asked: 2012-03-07 13:01:19 -0600

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Last updated: Apr 09 '15