The concept of distance between two rigid-body poses is central for lots of applications: path planning, positioning precision, mechanism synthesis, etc.. Many formulas have been devised to match the needs of real motion tasks, and some milestones have been put on the road that drives toward the correct definition of distance metrics useful for design and application purposes. In this context, this paper presents a critical review of the literature on the metrics proposed for measuring the distance between two rigid-body poses.
Review and comparison of the metrics proposed for measuring the distance between two rigid-body poses
DI GREGORIO, Raffaele
2009
Abstract
The concept of distance between two rigid-body poses is central for lots of applications: path planning, positioning precision, mechanism synthesis, etc.. Many formulas have been devised to match the needs of real motion tasks, and some milestones have been put on the road that drives toward the correct definition of distance metrics useful for design and application purposes. In this context, this paper presents a critical review of the literature on the metrics proposed for measuring the distance between two rigid-body poses.File in questo prodotto:
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