USING SENSOR-BASED OBSERVATIONS OF AGENTS IN AN ENVIRONMENT TO ESTIMATE THE POSE OF AN OBJECT IN THE ENVIRONMENT AND TO ESTIMATE AN UNCERTAINTY MEASURE FOR THE POSE
Methods, apparatus, systems, and computer-readable media are provided for using sensor-based observations from multiple agents (e.g., mobile robots and/or fixed sensors) in an environment to estimate the pose of an object in the environment at a target time and to estimate an uncertainty measure for...
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| creator | ANDERSON-SPRECHER, Peter Elving |
| description | Methods, apparatus, systems, and computer-readable media are provided for using sensor-based observations from multiple agents (e.g., mobile robots and/or fixed sensors) in an environment to estimate the pose of an object in the environment at a target time and to estimate an uncertainty measure for that pose. Various implementations generate a multigraph based on a group of observations from multiple agents, where the multigraph includes a reference frame node, object nodes, and a plurality edges connecting the nodes. In some implementations, a composite pose and composite uncertainty measure are generated for each of a plurality of simple paths along the edges of the multigraph that connect the reference frame node to a given object node-and a pose and uncertainty measure for an object identifier associated with the given object node is generated based on the composite poses and the composite uncertainty measures. |
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Various implementations generate a multigraph based on a group of observations from multiple agents, where the multigraph includes a reference frame node, object nodes, and a plurality edges connecting the nodes. In some implementations, a composite pose and composite uncertainty measure are generated for each of a plurality of simple paths along the edges of the multigraph that connect the reference frame node to a given object node-and a pose and uncertainty measure for an object identifier associated with the given object node is generated based on the composite poses and the composite uncertainty measures.</description><language>eng ; fre ; ger</language><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES ; CONTROLLING ; GYROSCOPIC INSTRUMENTS ; HAND TOOLS ; MANIPULATORS ; MEASURING ; MEASURING DISTANCES, LEVELS OR BEARINGS ; NAVIGATION ; PERFORMING OPERATIONS ; PHOTOGRAMMETRY OR VIDEOGRAMMETRY ; PHYSICS ; PORTABLE POWER-DRIVEN TOOLS ; REGULATING ; SURVEYING ; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ; TESTING ; TRANSPORTING</subject><creationdate>2022</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20221102&DB=EPODOC&CC=EP&NR=3347171B1$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,776,881,25543,76293</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20221102&DB=EPODOC&CC=EP&NR=3347171B1$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>ANDERSON-SPRECHER, Peter Elving</creatorcontrib><title>USING SENSOR-BASED OBSERVATIONS OF AGENTS IN AN ENVIRONMENT TO ESTIMATE THE POSE OF AN OBJECT IN THE ENVIRONMENT AND TO ESTIMATE AN UNCERTAINTY MEASURE FOR THE POSE</title><description>Methods, apparatus, systems, and computer-readable media are provided for using sensor-based observations from multiple agents (e.g., mobile robots and/or fixed sensors) in an environment to estimate the pose of an object in the environment at a target time and to estimate an uncertainty measure for that pose. 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Various implementations generate a multigraph based on a group of observations from multiple agents, where the multigraph includes a reference frame node, object nodes, and a plurality edges connecting the nodes. In some implementations, a composite pose and composite uncertainty measure are generated for each of a plurality of simple paths along the edges of the multigraph that connect the reference frame node to a given object node-and a pose and uncertainty measure for an object identifier associated with the given object node is generated based on the composite poses and the composite uncertainty measures.</abstract><oa>free_for_read</oa></addata></record> |
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| language | eng ; fre ; ger |
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| subjects | CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROLLING GYROSCOPIC INSTRUMENTS HAND TOOLS MANIPULATORS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PERFORMING OPERATIONS PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING SURVEYING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TESTING TRANSPORTING |
| title | USING SENSOR-BASED OBSERVATIONS OF AGENTS IN AN ENVIRONMENT TO ESTIMATE THE POSE OF AN OBJECT IN THE ENVIRONMENT AND TO ESTIMATE AN UNCERTAINTY MEASURE FOR THE POSE |
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