• Applied Runge–Kutta–Munthe-Kaas Integration for the Quaternion Kinematics 

      Sveier, Aksel; Sjøberg, Alexander Meyer; Egeland, Olav (Journal article; Peer reviewed, 2019)
    • Object Detection in Point Clouds Using Conformal Geometric Algebra 

      Sveier, Aksel; Kleppe, Adam Leon; Tingelstad, Lars; Egeland, Olav (Journal article; Peer reviewed, 2017)
      This paper presents an approach for detecting primitive geometric objects in point clouds captured from 3D cameras. Primitive objects are objects that are well defined with parameters and mathematical relations, such as ...
    • Pose Estimation using Dual Quaternions and Moving Horizon Estimation 

      Sveier, Aksel; Egeland, Olav (Journal article; Peer reviewed, 2018)
      This paper presents a moving horizon estimator (MHE) for estimating pose (attitude and position) of a dynamic system where pose measurements are available in the form of unit dual quaternions. A unit dual quaternion is an ...
    • Pose Estimation with Dual Quaternions and Iterative Closest Point 

      Sveier, Aksel; Myhre, Torstein Anderssen; Egeland, Olav (Chapter, 2018)
      This paper presents a method for pose estimation of a rigid body using unit dual quaternions where pose measurements from point clouds are filtered with a multiplicative extended Kalman filter (MEKF). The point clouds come ...
    • Primitive Shape Detection in Point Clouds 

      Sveier, Aksel (Master thesis, 2016)
      Industrial processes often involves handling of objects and surfaces shaped like geometric primitives. This should be taken into consideration when designing computer vision-based systems for such processes. Both pose and ...
    • Quaternions and Dual Quaternions for State and Parameter Estimation 

      Sveier, Aksel (Doctoral theses at NTNU;2020:75, Doctoral thesis, 2020)
      This thesis presents new results on the use of quaternions and dual quaternions for the estimation of position and orientation using cameras and inertial sensors. The unit quaternion is a four-parameter representation of ...