Associating Uncertainty With Three-Dimensional Poses for Use in Estimation Problems
| Autor: | Timothy D. Barfoot, Paul Furgale |
|---|---|
| Rok vydání: | 2014 |
| Předmět: |
business.industry
Relaxation (iterative method) Probability density function 3D pose estimation Computer Science Applications Nonlinear system Transformation matrix Control and Systems Engineering Computer vision Point (geometry) Artificial intelligence Electrical and Electronic Engineering Representation (mathematics) business Algorithm Pose Mathematics |
| Zdroj: | IEEE Transactions on Robotics. 30:679-693 |
| ISSN: | 1941-0468 1552-3098 |
| DOI: | 10.1109/tro.2014.2298059 |
| Popis: | In this paper, we provide specific and practical approaches to associate uncertainty with $\hbox{4} \times \hbox{4}$ transformation matrices, which is a common representation for pose variables in 3-D space. We show constraint-sensitive means of perturbing transformation matrices using their associated exponential-map generators and demonstrate these tools on three simple-yet-important estimation problems: 1) propagating uncertainty through a compound pose change, 2) fusing multiple measurements of a pose (e.g., for use in pose-graph relaxation), and 3) propagating uncertainty on poses (and landmarks) through a nonlinear camera model. The contribution of the paper is the presentation of the theoretical tools, which can be applied in the analysis of many problems involving 3-D pose and point variables. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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