Book contents
- Frontmatter
- Contents
- Preface for the First Edition
- Preface for the Second Edition
- Acronyms and Abbreviations
- Notation
- 1 Introduction
- Part I Estimation Machinery
- Part II Three-Dimensional Machinery
- 7 Primer on Three-Dimensional Geometry
- 8 Matrix Lie Groups
- Part III Applications
- Part IV Appendices
- References
- Index
7 - Primer on Three-Dimensional Geometry
from Part II - Three-Dimensional Machinery
Published online by Cambridge University Press: 11 January 2024
Book contents
- Frontmatter
- Contents
- Preface for the First Edition
- Preface for the Second Edition
- Acronyms and Abbreviations
- Notation
- 1 Introduction
- Part I Estimation Machinery
- Part II Three-Dimensional Machinery
- 7 Primer on Three-Dimensional Geometry
- 8 Matrix Lie Groups
- Part III Applications
- Part IV Appendices
- References
- Index
Summary
Typical robots not only translate in the world but also rotate. This chapter serves a primer on three-dimensional geometry introducing such important geometric concepts as vectors, reference frames, coordinates, rotations, and poses (rotation and translation). We introduce kinematics, how geometry changes over time, with an eye towards describing robot motion models. We also present several common sensor models using our three-dimensional tools: camera, stereo camera, lidar, and inertial measurement unit.
- Type
- Chapter
- Information
- State Estimation for RoboticsSecond Edition, pp. 217 - 255Publisher: Cambridge University PressPrint publication year: 2024