题 目：the subspace constrained least squares solution of unit dual quaternion vector equations and its application to hand-eye calibration
主讲人：朱红 副教授
单 位：江苏大学
时 间：2024年7月21日 15：00
地 点：郑州校区九章学堂c座302
摘 要：in this talk, we study the solution of unit dual quaternion equations ax = xb and ax = zb. because of the 2-norm of the dual quaternion vector, there may be many possible solutions for such unit dual quaternion equations. the main contribution of this paper is to provide a new formulation for subspace constrained least squares solutions of unit dual quaternion equations, and derive the closed-form expressions for solutions. numerical algorithms are developed and used to solve robot world and the hand-eye calibration problems. experimental results are shown that the proposed subspace constrained least squares solutions are competitive compared with existing solution methods.
简 介：朱红，江苏大学副教授，硕士生导师。2016年博士毕业于香港浸会大学。主要研究方向为非线性优化，在siam j. optim.，ieee image proc., inverse. prob., j. sci. comput., comput. optim. appl.等期刊发表论文10余篇，主研国家自然科学基金青年科学基金和面上项目各1项。