Computing MAP trajectories by representing, propagating and combining PDFs over groups

@inproceedings{Smith2003ComputingMT,
  title={Computing MAP trajectories by representing, propagating and combining PDFs over groups},
  author={Paul Smith and Tom Drummond and Kimon Roussopoulos},
  booktitle={ICCV},
  year={2003}
}
This paper addresses the problem of computing the trajectory of a camera from sparse positional measurements that have been obtained from visual localisation, and dense differential measurements from odometry or inertial sensors. A fast method is presented for fusing these two sources of information to obtain the maximum a posteriori estimate of the trajectory. A formalism is introduced for representing probability density functions over Euclidean transformations, and it is shown how these… CONTINUE READING
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