Motion data denoising based on the quaternion lifting scheme multiresolution transform

We discuss human body motion denoising with use of the transform based on second generation wavelet. To build such a transform, we use the quaternion lifting scheme. The main focus is placed on representing body parts orientation changes over time with quaternions as a technique both compact and more efficient than the representation of the Euler angles of rotation. Our denoising method is based on a soft threshold algorithm but is directly to the quaternion motion data in the resulting multiresolution representation.