publication . Article . 2014

Associating Uncertainty With Three-Dimensional Poses for Use in Estimation Problems

Paul Furgale; Timothy D. Barfoot;
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  • Published: 03 Jun 2014 Journal: IEEE Transactions on Robotics, volume 30, pages 679-693 (issn: 1552-3098, eissn: 1941-0468, Copyright policy)
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Abstract
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 pap...
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Subjects
free text keywords: Control and Systems Engineering, Electrical and Electronic Engineering, Computer Science Applications, Mathematics, Matrix algebra, Matrix lie groups, Computer vision, Pose, Probability density function, Artificial intelligence, business.industry, business, Robot, 3D pose estimation, Transformation matrix, Algorithm, Nonlinear system
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