Abstract
Smooth motion generation is an important issue in the computer animation and virtual reality areas. The motion of a rigid body consists of translation and orientation. The former is described by a space curve in 3-dimensional Euclidean space, while the latter is represented by a curve in the unit quaternion space. Although there exist well-known techniques for smoothing the translation data, smoothing the orientation data is yet to be explored due to the nonlinearity of the unit quaternion space. This paper presents a wavelet-based algorithm for smoothing noise-embedded motion data and the experiment shows the effectiveness of the proposed algorithm.
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Hsieh, CC. Motion Smoothing Using Wavelets. Journal of Intelligent and Robotic Systems 35, 157–169 (2002). https://doi.org/10.1023/A:1021161132760
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DOI: https://doi.org/10.1023/A:1021161132760