Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra

An accurate characterization of pose uncertainty is essential for safe autonomous navigation. Early pose uncertainty characterization methods proposed by Smith, Self, and Cheeseman (SCC), used coordinate-based first-order methods to propagate uncertainty through non-linear functions such as pose com...

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Veröffentlicht in:	arXiv.org 2019-06
Hauptverfasser:	Mangelson, Joshua G, Ghaffari, Maani, Vasudevan, Ram, Eustice, Ryan M
Format:	Artikel
Sprache:	eng
Schlagworte:	Algebra Autonomous navigation Composition Computer simulation Lie groups Linear functions Mathematical analysis Uncertainty
Online-Zugang:	Volltext
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