OpenCV Q&A Forum - RSS feedhttp://answers.opencv.org/questions/OpenCV answersenCopyright <a href="http://www.opencv.org">OpenCV foundation</a>, 2012-2018.Mon, 05 Aug 2013 02:52:33 -0500Kalman filtration for rotationhttp://answers.opencv.org/question/18186/kalman-filtration-for-rotation/I want to use Kalman filter for rotation. I have rotation matrix, but i can't use filtration for it, because all it's elements interdependent. That's why i try to convert matrix to euler angles and to filter each of compoments.
My questions:
- is this filtering of euler angles will be right? (is all components x, y, z independent? I think no) If yes, how to avoid gimbal lock during filtration?
- is there a better way to filter the rotation?Mon, 05 Aug 2013 02:18:54 -0500http://answers.opencv.org/question/18186/kalman-filtration-for-rotation/Answer by Siegfried for <p>I want to use Kalman filter for rotation. I have rotation matrix, but i can't use filtration for it, because all it's elements interdependent. That's why i try to convert matrix to euler angles and to filter each of compoments. </p>
<p>My questions: </p>
<ul>
<li><p>is this filtering of euler angles will be right? (is all components x, y, z independent? I think no) If yes, how to avoid gimbal lock during filtration? </p></li>
<li><p>is there a better way to filter the rotation?</p></li>
</ul>
http://answers.opencv.org/question/18186/kalman-filtration-for-rotation/?answer=18189#post-id-18189Hi, to avoid gimbal lock you can use [Quaternions](http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation) instead of euler angles. For example, Quaternions are widely used in robotics to represent rotations.Mon, 05 Aug 2013 02:47:35 -0500http://answers.opencv.org/question/18186/kalman-filtration-for-rotation/?answer=18189#post-id-18189Comment by tenta4 for <p>Hi, to avoid gimbal lock you can use <a href="http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation">Quaternions</a> instead of euler angles. For example, Quaternions are widely used in robotics to represent rotations.</p>
http://answers.opencv.org/question/18186/kalman-filtration-for-rotation/?comment=18190#post-id-18190Thank you, i know this, but quaternion components also interdependent. I found this article (http://www.malcolmdshuster.com/pub_1993f_c_qnorm_mds.pdf), maybe it will be helpful for me but i hoped to find the easyest solutionMon, 05 Aug 2013 02:52:33 -0500http://answers.opencv.org/question/18186/kalman-filtration-for-rotation/?comment=18190#post-id-18190