# WHAT DOES 6-DEGREE OF FREEDOM (6-DOF) MEAN?

## 6-degrees of freedom, often shorten as 6-dof, is a term that indicates the freedom of movements of a rigid body in 3-dimensional space.

The body can change position with these transitions:

• forward/backward (surge – X asis),
• left/right (sway – Y axis),
• up/down (heave – Z axis).

These are translation in three perpendicular axes.

The orientation can also change, with a rotation about three perpendicular axes, often called:

• YAW (normal axis),
• PITCH (transverse axis),
• ROLL (longitudinal axis).

3 Translations + 3 Rotations = 6 Degrees of Freedom = 6-DoF

Any possible movement of a rigid body, simple or complex, can be expressed with a 6 DOF combination.

For example, imagine when a golf ball is hit by a bat: the complex movement of the bat can be censidered as a combination of different translations and rotations, as 6-DoF.

Dragonfly can provide the location data in the 6-DoF format.

## DISCOVER

### How Can The 6-DOF Data From Dragonfly Be Integrated?

Dragonfly is a Visual SLAM technology that provides the location of the device in 6-DOF format, as well as in WGS-84 (latitude, longitude, elevation). The API provides typically a JSON containing the location data, however we can customize the output format to address specific requirements.

The X, Y, Z coordinates measure the distance, in meters, from an “origin” having coordinates (0,0,0). You can imagine it to be, for example, the corner of a room, and the device is laying on the floor. This is the origin point: every movement that the device makes is calculated in meters, therefore, assuming that the device moves by 50 cm on the X asis, and elevates by 75 cm, the new coordinate will be (0.5, 0, 0.75).

The coordinates can also have negative values, always relative to the origin.

Dragonfly offers a centimeter level accuracy, and provides 6-DoF location data.

Dragonfly’s location can be integrated into custom applications, of course: the location can be used as a component for robots and drones autonomous navigation, or to track the location of moving machines, vehicles, forklifts, UAV…

The data provided by Dragonfly can be customized by our R&D team in order to fit different projects, and we are open to listen to your requests.

We can deliver ROS nodes upon request to integrate Dragonfly SLAM for ROS.