Accurate Computation of Quaternions from Rotation Matrices. - Soheil Sarabandi; Federico Thomas (ARK, 2018)

On Closed-Form Formulas for the 3-D Nearest Rotation Matrix Problem. - Soheil Sarabandi; Arya Shabani; Josep M. Porta; Federico Thomas (IEEE Trans. Robotics, 2020)

In-Hand Manipulation with Soft Fingertips. - Soheil Sarabandi; Qiujie Lu; Genliang Chen; Nicolas Rojas 002 (RoboSoft, 2022)

Hand-Eye Calibration Made Easy Through a Closed-Form Two-Stage Method. - Soheil Sarabandi; Josep M. Porta; Federico Thomas (IEEE Robotics Autom. Lett., 2022)

Approximating Displacements in ${ mathbb {R}}^3$ by Rotations in ${ mathbb {R}}^4$ and Its Application to Pointcloud Registration. - Soheil Sarabandi; Federico Thomas (IEEE Trans. Robotics, 2022)

Completely Rational $ text{SO}(n)$ Orthonormalization. - Jin Wu 002; Soheil Sarabandi; Jianhao Jiao; Huaiyang Huang; Bohuan Xue; Ruoyu Geng; Lujia Wang 001; Ming Liu 001 (ICRA, 2023)

Solution methods to the nearest rotation matrix problem in ℝ 3 : A comparative survey. - Soheil Sarabandi; Federico Thomas (Numer. Linear Algebra Appl., 2023)