LATIDIA · Robótica

Análisis conceptual y comparativo

arXiv:2605.08086v1 Tipo de anuncio: cruz Resumen: Las representaciones de rotación son fundamentales en campos como la informática, la robótica y el aprendizaje automático, donde el modelado preciso y eficiente de las orientaciones 3D es

La noticia

arXiv:2605.08086v1 Announce Type: cross Abstract: Rotation representations are foundational in fields such as computer graphics, robotics, and machine learning, where precise and efficient modeling of 3D orientations is critical. This paper comprehensively investigates diverse representations of the special orthogonal group $SO(3)$, such as Euler angles, axis-angle vectors, quaternions, rotation matrices, exponential maps, and emerging continuous and probabilistic methods, evaluating their mathematical formulations, continuity, susceptibility to gimbal lock, computational efficiency, storage requirements, interpolation properties, and composition operations, while integrating detailed algebraic insights with practical applications in fields like animation, pose estimation, inertial navigation, 3D shape registration, and neural networks. Empirical evidence highlights quaternions' dominance due to their compactness and computational efficiency,