Associating Uncertainty with Three-Dimensional Poses for use in Estimation Problems

July 17, 2014 in ETHZ-ASL, Journals, Publications, year 4 by admin

Barfoot, Furgale

Robotics, IEEE Transactions on, 30(3), pp. 679-693

In this paper, we provide specific and practical approaches to associate uncertainty with 4 ?? 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.


@article{barfoot_tro14,
year = { 2014 },
title = { Associating Uncertainty with Three-Dimensional Poses for
use in Estimation Problems },
codeurl = { http://asrl.utias.utoronto.ca/code/barfoot_tro14.zip },
journal = { Robotics, IEEE Transactions on },
author = { Barfoot and Furgale },
pages = { 679-693 },
number = { 3 },
volume = { 30 },
month = { jun },
doi = { 10.1109/TRO.2014.2298059 },
}