METHOD AND SYSTEM FOR OBTAINING ATTITUDE OF PROBE RELATIVE TO OBJECT BY PROBING THE OBJECT USING THE PROBE

摘要

PROBLEM TO BE SOLVED: To provide a method and system for obtaining an attitude of a probe relative to an object by probing the object using the probe.

SOLUTION: The method for obtaining an attitude of a probe relative to an object includes: a step which uses Rao-Blackwellized particle filtering to obtain a probability of the attitude, in a probability of a location of the attitude is represented by locations 212 of particles and a probability of an orientation of the attitude is represented by a Gaussian distribution 215 over orientations of particles conditional on locations of respective particles, and is executed for each following probing till the probability of the attitude is concentrated around a specific attitude; and a step which estimates the attitude of the probe relative to the object on the basis of the specific attitude.

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