Automatic Calculation of a Transformation Matrix Between Two Frames | Zendy

Jasmine Cashbaugh | Zendy; Christopher Kitts | Zendy

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Automatic Calculation of a Transformation Matrix Between Two Frames

Author(s) -

Jasmine Cashbaugh,

Christopher Kitts

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2799173

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

This paper presents a novel strategy for the automatic calculation of a homogeneous transformation matrix between two frames given a set of matched position measurements of objects as observed in both frames. The transformation matrix is calculated by applying a linear regression to matched data in two coordinate frames. This method scales linearly with the number of data points, enabling it to be used in a wide variety of applications without requiring large amounts of processing time. The automatic transformation matrix calculation is demonstrated to work in a real-world application and produce deterministic results. The error on the transformation matrix calculation was found to be low, making this an ideal method for the easy calculation of transformation matrices.

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