A general representation of the quaternion gradients presented in the literature is proposed, and an universal update equation for QLMS-like algorithms is obtained. The general update law is used to study the convergence of widely linear (WL) algorithms. It is proved that techniques obtained with a gradient similar to the i-gradient are the fastest-converging in two situations: 1) When the corr...

High accuracy attitude and position determination is very important for underwater gliders. The cross-coupling among three attitude angles (heading angle, pitch angle and roll angle) becomes more serious when pitch or roll motion occurs. This cross-coupling makes attitude angles inaccurate or even erroneous. Therefore, the high accuracy attitude and position determination becomes a difficult pr...

This paper presents a real-time, vision-based algorithm for the pose and motion estimation of non-cooperative targets and its application in visual servo robotic manipulator to perform autonomous capture. A hybrid approach of adaptive extended Kalman filter and photogrammetry is developed for the real-time pose and motion estimation of noncooperative targets. Based on the pose and motion estima...

The field of deep learning has seen significant advancement in recent years. However, much of the existing work has been focused on real-valued numbers. Recent work has shown that a deep learning system using the complex numbers can be deeper for a fixed parameter budget compared to its real-valued counterpart. In this work, we explore the benefits of generalizing one step further into the hype...

The quaternion representation of colour is shown to be effective in the context of colour texture region segmentation in digital colour images. The advantage of using quaternion arithmetic is that a colour can be represented and analyzed as a single entity. A basis for the colour textures occurring in a given image is derived via quaternion principal component analysis of a training set of colo...

This paper presents a method to smoothly interpolate a given sequence of solid orientations using circular blending quaternion curves. Given three solid orientations, a circular quaternion curve is constructed that interpolates the three orientations. Therefore, given four orientations q i?1 ; q i ; q i+1 ; q i+2 , there are two circular quaternion curves C i and C i+1 which interpolate the tri...

The research contained within this thesis may be summarized as the design, implementation, and testing of a new vision and inertial pose estimation system for registration within handheld augmented reality (AR). Additionally, a real-time AR testbed was constructed from off-the-shelf components and free or open source software libraries. It runs at frame rate, 30 Hz, and maintains highly accurat...