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

@article{Barfoot2014AssociatingUW,
  title={Associating Uncertainty With Three-Dimensional Poses for Use in Estimation Problems},
  author={Tim D. Barfoot and Paul Timothy Furgale},
  journal={IEEE Transactions on Robotics},
  year={2014},
  volume={30},
  pages={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… CONTINUE READING
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