The folder DHB_Invariants contains 3 scripts:
computeDHB.m
: Compute DHB invariants given a Cartesian trajectory.reconstructTrajectory.m
: Reconstruct a Cartesian trajectory from its DHB invariant representation.mainDHB.m
: Simple demo script.
The code is compatible with Matlab and Octave.
The code is developed and tested under Matlab 2015b.
We prepared a simple demo in mainDHB.m
to show how a Cartesian 6D trajectory is transformed into a set of DHB invariants and vice versa.
Please acknowledge the authors in any acedemic publication that used parts of these codes.
@article{Lee2018,
title = "Bidirectional invariant representation of rigid body motions and its application to gesture recognition and reproduction",
author = "Lee, Dongheui and Soloperto, Raffaele and Saveriano, Matteo",
journal = "Autonomous Robots",
year = "2018",
volume = "42",
number = "1",
pages = "125--145"
}
@article{Soloperto2015,
title = " A Bidirectional Invariant Representation of Motion for Gesture Recognition and Reproduction",
author = "Soloperto, Raffaele and Saveriano, Matteo and Lee, Dongheui",
journal = " International Conference on Robotics and Automation (ICRA)",
year = "2015",
pages = "6146-6152"
}
This repository contains free software: you can redistribute it and/or modify it under the terms of the GNU General Public License version 3 as published by the Free Software Foundation.
This source code is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this code. If not, see http://www.gnu.org/licenses/.