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• W2155653863 abstract "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." @default.
• W2155653863 created "2016-06-24" @default.
• W2155653863 creator A5004788089 @default.
• W2155653863 creator A5016331448 @default.
• W2155653863 date "2014-06-01" @default.
• W2155653863 modified "2023-09-30" @default.
• W2155653863 title "Associating Uncertainty With Three-Dimensional Poses for Use in Estimation Problems" @default.
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• W2155653863 doi "https://doi.org/10.1109/tro.2014.2298059" @default.
• W2155653863 hasPublicationYear "2014" @default.
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