ICRA 2011 Paper Abstract


Paper WeP114.1

Olson, Edwin (University of Michigan)

On Computing the Average Orientation of Vectors and Lines

Scheduled for presentation during the Regular Sessions "Computer Vision for Robotics and Automation III" (WeP114), Wednesday, May 11, 2011, 13:40−13:55, Room 5J

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Sensor Fusion, Computer Vision for Robotics and Automation, At Large


Computing the ``average'' orientation of lines and rotations is non-trivial due to the need to account for the periodicity of rotation. For example, the average of +10 and +350 degrees is 0 (or 360) degrees, not 180. This problem arises in many disciplines, particularly those in which empirically collected data is processed or filtered.

In this paper, we review a common but sub-optimal method for computing average orientation and provide a new geometric interpretation. We also propose a new method which provides additional insights into the geometry of the problem. Our new method also produces significantly more accurate results in the regime of operation usually encountered in robotics applications. We characterize this regime and provide guidance regarding which method to use, and when.



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