POSTURE AND MOTION ANALYSIS USING QUATERNIONS

摘要

A method of generating a weighted combination of one or more elements each of which may be represented as a point on the surface of a sphere or hyper-sphere. The method includes receiving a plurality of basis elements represented as points on a common sphere or hyper-sphere; calculating an approximate spherical mean point on the common sphere or hyper-sphere based on the received points; re-expressing each of the received points as a difference from the approximate spherical mean point in a linear space selected in dependence upon the calculated approximate spherical mean point; calculating a linear weighted average difference from the approximate spherical mean point in the selected linear space, which weighted average difference is based on a received set of weights in respect of one or more of the received elements; and performing a reverse mapping operation on the linear weighted average difference to generate a spherical weighted average point back on the common sphere or hyper-sphere which thus represents said weighted combination of said received one or more elements.