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Abstract: Quaternions are still largely misunderstood and often considered an “exotic” signal representation without much practical utility despite the fact th
by teleforce 2y ago
Abstract:
Quaternions are still largely misunderstood and often considered an “exotic” signal representation without much practical utility despite the fact that they have been around the signal and image processing community for more than 30 years now. The main aim of this article is to counter this misconception and to demystify the use of quaternion algebra for solving problems in signal and image processing. To this end, we propose a comprehensive and objective overview of the key aspects of quaternion representations, models, and methods and illustrate our journey through the literature with flagship applications. We conclude this work by an outlook on the remaining challenges and open problems in quaternion signal and image processing.
- the__alchemist 2y agoI can't comment on the DSP applications in the article, but for representing rotations and orientations in 3D (Computer rendersing, robotics, aerospace etc), they can be effectively treated as black boxes. There are a handful of operations you can perform between quaternions and other quaternions, vectors, and scalers, to do anything you would want in this domain. Practially, you may just be calling functions like "Quaternion::from_unit_vecs()` etc. Call it a Rotor if you'd like; it doesn't matter when viewing it this way! Both implementation and application will be the same. The conceptual aspect people prefer about rotors is N/A here. You could also call it a `Orientation` or `Rotation` (eg the struct/class name); maybe that's better than either.
- teleforce 2y agoCheck this application of quaternion for robust UAV flight control: Quaternion vs Euler Angles for UAV position control: https://www.youtube.com/watch?v=0VAc_G79POE https://www.youtube.com/watch?v=0VAc_G79POE