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A Riemannian metric for geometry-aware singularity avoidance by articulated robots.
Filip Maric
Luka Petrovic
Marko Guberina
Jonathan Kelly
Ivan Petrovic
Published in:
Robotics Auton. Syst. (2021)
Keyphrases
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riemannian metric
information geometry
fisher information
infinite dimensional
shape space
vector space
shape representation
covariance matrices
human body
tensor field
parameter space
three dimensional
square root
positive definite
riemannian manifolds
scale space
structure tensor
diffusion tensor
computer vision