Vision Measurement Scheme Using Single Camera Rotation

Figure 4

Curve of the quaternion of rotation matrix with respect to rotation angle; 𝑞=[𝑞₀,𝑞_𝑥,𝑞_𝑦,𝑞_𝑧] is converted from rotation matrix, and 𝑞^′=[𝑞^′₀,𝑞^′_𝑥,𝑞^′_𝑦,𝑞^′_𝑧] is calculated by the proposed method.