| Generating Uniform Incremental Grids on SO(3) Using the Hopf Fibration. | |
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MedLine Citation:
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PMID: 20607113 Owner: NLM Status: Publisher |
Abstract/OtherAbstract:
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The problem of generating uniform deterministic samples over the rotation group, SO(3), is fundamental to computational biology, chemistry, physics, and numerous branches of computer science. We present the best-known method to date for constructing incremental, deterministic grids on SO(3); it provides: 1) the lowest metric distortion for grid neighbor edges, 2) optimal dispersion-reduction with each additional sample, 3) explicit neighborhood structure, and 4) equivolumetric partition of SO(3) by the grid cells. We also demonstrate the use of the sequence on motion planning problems. |
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Authors:
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Anna Yershova; Swati Jain; Steven M Lavalle; Julie C Mitchell |
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Publication Detail:
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Type: JOURNAL ARTICLE |
Journal Detail:
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Title: The International journal of robotics research Volume: 29 ISSN: 1741-3176 ISO Abbreviation: - Publication Date: 2010 Jun |
Date Detail:
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Created Date: 2010-9-13 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 101511318 Medline TA: Int J Rob Res Country: - |
Other Details:
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Languages: ENG Pagination: 801-812 Citation Subset: - |
Affiliation:
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Duke University, Durham, NC 27707, USA, yershova@cs.duke.edu. |
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Descriptor/Qualifier:
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| Grant Support | |
ID/Acronym/Agency:
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R01 GM065982-08//NIGMS NIH HHS; R01 GM078031-02//NIGMS NIH HHS; R01 GM065982-08//NIGMS NIH HHS; R01 GM065982-10//NIGMS NIH HHS; R01 GM078031-02//NIGMS NIH HHS |
From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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