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Orientation Uncertainty Characteristics of Some Pose Measuring Systems
Joint Authors
Franaszek, Marek
Cheok, Geraldine S.
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-12-31
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
We investigate the performance of pose measuring systems which determine an object’s pose from measurement of a few fiducial markers attached to the object.
Such systems use point-based, rigid body registration to get the orientation matrix.
Uncertainty in the fiducials’ measurement propagates to the uncertainty of the orientation matrix.
This orientation uncertainty then propagates to points on the object’s surface.
This propagation is anisotropic, and the direction along which the uncertainty is the smallest is determined by the eigenvector associated with the largest eigenvalue of the orientation data’s covariance matrix.
This eigenvector in the coordinate frame defined by the fiducials remains almost fixed for any rotation of the object.
However, the remaining two eigenvectors vary widely and the direction along which the propagated uncertainty is the largest cannot be determined from the object’s pose.
Conditions that result in such a behavior and practical consequences of it are presented.
American Psychological Association (APA)
Franaszek, Marek& Cheok, Geraldine S.. 2017. Orientation Uncertainty Characteristics of Some Pose Measuring Systems. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-13.
https://search.emarefa.net/detail/BIM-1189916
Modern Language Association (MLA)
Franaszek, Marek& Cheok, Geraldine S.. Orientation Uncertainty Characteristics of Some Pose Measuring Systems. Mathematical Problems in Engineering No. 2017 (2017), pp.1-13.
https://search.emarefa.net/detail/BIM-1189916
American Medical Association (AMA)
Franaszek, Marek& Cheok, Geraldine S.. Orientation Uncertainty Characteristics of Some Pose Measuring Systems. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-13.
https://search.emarefa.net/detail/BIM-1189916
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1189916