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

Claim 1:
2. The method according to claim 1, 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
                  
                
              
              ]
            
            .