A Riemannian Metric for Geometry-Aware Singularity Avoidance by Articulated Robots.
Filip MaricLuka PetrovicMarko GuberinaJonathan KellyIvan PetrovicPublished in: CoRR (2021)
Keyphrases
- riemannian metric
- information geometry
- fisher information
- vector space
- shape representation
- covariance matrices
- shape space
- tensor field
- infinite dimensional
- three dimensional
- human body
- square root
- planar curves
- diffusion tensor
- positive definite
- geodesic distance
- shape analysis
- parameter space
- degrees of freedom
- matching algorithm