A small change in a homogeneous transform may be repre sented by either the change in the description vector of the transform or by a differential translation and rotation transfor mation. The differential motion vector describing the differential translation and rotation transformation is in general not equal to the change in the description vector. The calculations in Durrant-Whyte (1987a) are based on the assumption that they are equal and have to be modified accordingly.
Get full access to this article
View all access options for this article.
References
1.
Durrant-Whyte, H.F.1987a. Consistent integration and propagation of disparate sensor observations. Int. J. Robot. Res.6(3):3-24.
2.
Durrant-Whyte, H.F.1987b (Raleigh, NC, March). Uncertain geometry in robotics. Proc. 1987 IEEE Int. Conf. on Robotics and Automation, pp. 851-856.
3.
Durrant-Whyte, H.F.1988. Integration, Coordination and Control of Multi-Sensor Robot Systems. Norwell, MA: Kluwer Academic, 1988.
4.
Paul, R.P.1981. Robot Manipulators: Mathematics, Programming, and Control . Cambridge MA: MIT Press .
