Dual quaternions for absolute orientation and hand-eye calibration

  • Konstantinos Daniilidis
Conference paper
Part of the Advances in Computing Science book series (ACS)


Many computer vision problems involving three dimensional motion necessitate an efficient representation for 3D displacement that enhances the understanding of the problem and facilitates linear solutions of low complexity. The most common representation is a rotation about an axis through the origin followed by a translation and represented by an orthogonal matrix and a vector, respectively. An alternative representation to orthogonal matrices are the unit quaternions already used in several vision algorithms [4] which still use the translation as a separate unknown. From Chasles’ theorem [1] it is known that a rigid transformation can be modeled as a rotation about an axis not through the origin and a translation along this axis. This well known screw transformation can be algebraically modeled using dual vectors, matrices or quaternions [5].


Scalar Part Rigid Transformation Dual Vector Unit Quaternion Screw Axis 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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© Springer-Verlag/Wien 1997

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  • Konstantinos Daniilidis

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