| 摘要 |
The invention relates to a method for modelling and calculation of the uncertainty of a pose of an object in space, wherein pose is a combination of translation and orientation, comprising the following steps:
- describing of a three-dimensional orientation of the object by unit quaternions,
- inducing a probability density function on the unit quaternions by central projection of a Gaussian distribution on a tangent space to the sphere of the unit quaternions,
- forming of base elements describing a correlation of position and orientation by generating a joint probability on a product space of said tangent space and a space of translations, and
- combining said base elements to mixture probability distributions. The memory space requirements of the inventive method to model the possible poses are significantly lower than those of a sample based description. The inventive method is usable mobile robots, CT imaging, logistics equipment and mineralogical investigations and explorations. |
