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| Presentation | 2011-03-08 11:30 A factor analysis model for multivariate unit quaternions Yusuke Fujiwara, Yutaka Sakaguchi (UEC)  NC2010-169 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | A human body movement is represented as a set of 3D rotations of joint angles. A unit quaternion provides a simple mean to represent a 3D rotation without singularity called gimbal lock. In a field of human motor control, a statistical analysis has been conducted to investigate how body parts are coordinated to generate a whole body or a part of a whole body motion. A human motion is decomposed into uncorrelated factors called "synergy'' by using dimensionality reduction method such as non-negative matrix factorization and principal component analysis.However, previous synergy analyses have focused on rotations on 2D plane and not treated 3D rotations of joint angles. Here we propose a statistical method to decompose multivariate unit quaternions into a smaller number of unit quaternions to analyze a set of 3D rotations. Unit quaternions as observed data representing joint angles are modeled by von Mises-Fisher distribution. We assume that these observed quaternions are explained by a weighted sum of latent variables. The latent variables and weight parameters are estimated by EM algorithm. An efficacy of the proposed model is examined by a simulation experiment. Moreover we show that our model is applicaple to human motion data. |
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| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | 3D rotation / unit quaternion / von Mises-Fisher distribution / factor analysis model / motion synergy analysis / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 110, no. 461, NC2010-169, pp. 247-252, March 2011. | |
| Paper # | NC2010-169 | |
| Date of Issue | 2011-02-28 (NC) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | NC2010-169 |
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| Conference Information | |
| Committee | NC MBE |
| Conference Date | 2011-03-07 - 2011-03-09 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Tamagawa University |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Paper Information | |
| Registration To | NC |
| Conference Code | 2011-03-NC-MBE |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | A factor analysis model for multivariate unit quaternions |
| Sub Title (in English) | |
| Keyword(1) | 3D rotation |
| Keyword(2) | unit quaternion |
| Keyword(3) | von Mises-Fisher distribution |
| Keyword(4) | factor analysis model |
| Keyword(5) | motion synergy analysis |
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| Keyword(8) | |
| 1st Author's Name | Yusuke Fujiwara |
| 1st Author's Affiliation | The University of Electro-Communications (UEC) |
| 2nd Author's Name | Yutaka Sakaguchi |
| 2nd Author's Affiliation | The University of Electro-Communications (UEC) |
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| Speaker | Author-1 |
| Date Time | 2011-03-08 11:30:00 |
| Presentation Time | 25 minutes |
| Registration for | NC |
| Paper # | NC2010-169 |
| Volume (vol) | vol.110 |
| Number (no) | no.461 |
| Page | pp.247-252 |
| #Pages | 6 |
| Date of Issue | 2011-02-28 (NC) |
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