Patent ID: 11968449
Assignee: ARASHI VISION INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H | IPC G  H

Claim 13:
14. The portable terminal according to claim 13, wherein the method of conducting first smoothing employs a formula:, q
        ~
      
      t
      k
    
    =
    
      arg
      ⁢
      
        
      
      ⁢
      min
      ⁢
      
        
          ∑
          
            k
            =
            
              t
              -
              
                N
                /
                2
              
            
          
          
            t
            +
            
              N
              /
              2
            
          
        
        ⁢
        
          
            
            
              
                A
                ⁡
                
                  (
                  
                    q
                    k
                  
                  )
                
              
              -
              
                A
                ⁡
                
                  (
                  q
                  )
                
              
            
            
          
          F
          2
        
      
    
  
  ,
  
    q
    ∈
    
      S
      3
    
  
  ,, where q=[v,u]T is the quaternion,, A
      ⁡
      
        (
        q
        )
      
    
    =
    
      
        
          (
          
            
              u
              2
            
            -
            
              
                
                v
                
              
              2
            
          
          )
        
        ⁢
        
          I
          
            3
            ×
            3
          
        
      
      +
      
        2
        ⁢
        v
        ⁢
        
          v
          T
        
      
      -
      
        2
        ⁢
        
          
            u
            ⁡
            
              [
              v
              ]
            
          
          x
        
      
    
  
  ,
  
    
      
        [
        v
        ]
      
      x
    
    =
    
      
        [
        
          
            
              0
            
            
              
                -
                
                  v
                  3
                
              
            
            
              
                v
                2
              
            
          
          
            
              
                v
                3
              
            
            
              0
            
            
              
                -
                
                  v
                  1
                
              
            
          
          
            
              
                -
                
                  v
                  2
                
              
            
            
              
                v
                1
              
            
            
              0
            
          
        
        ]
      
      .