A Geometric Algebra Solution to Wahba's Problem
Robotics
2021-03-08 v1
Abstract
We retrace Davenport's solution to Wahba's classic problem of aligning two pointclouds using the formalism of Geometric Algebra (GA). GA proves to be a natural backdrop for this problem involving three-dimensional rotations due to the isomorphism between unit-length quaternions and rotors. While the solution to this problem is not a new result, it is hoped that its treatment in GA will have tutorial value as well as open the door to addressing more complex problems in a similar way.
Cite
@article{arxiv.2103.03773,
title = {A Geometric Algebra Solution to Wahba's Problem},
author = {Timothy D Barfoot},
journal= {arXiv preprint arXiv:2103.03773},
year = {2021}
}