题    目：The subspace constrained least squares solution of unit dual quaternion vector equations and its application to hand-eye calibration

主讲人：朱红 副教授

单    位：江苏大学

时    间：2024年7月21日 15：00

地    点：郑州校区九章学堂C座302

摘    要：In this talk, we study the solution of unit dual quaternion equations ax = xb and ax = zb. Because of the 2-norm of the dual quaternion vector, there may be many possible solutions for such unit dual quaternion equations. The main contribution of this paper is to provide a new formulation for subspace constrained least squares solutions of unit dual quaternion equations, and derive the closed-form expressions for solutions. Numerical algorithms are developed and used to solve robot world and the hand-eye calibration problems. Experimental results are shown that the proposed subspace constrained least squares solutions are competitive compared with existing solution methods.

简    介：朱红，江苏大学副教授，硕士生导师。2016年博士毕业于香港浸会大学。主要研究方向为非线性优化，在SIAM J. Optim.，IEEE Image Proc., Inverse. Prob., J. Sci. Comput., Comput. Optim. Appl.等期刊发表论文10余篇，主研国家自然科学基金青年科学基金和面上项目各1项。