Franaszek, M.
and Cheok, G.
(2017),
Orientation Uncertainty Characteristics of Some Pose Measuring Systems, Mathematical Problems in Engineering, [online], https://doi.org/10.1155/2017/2696108
(Accessed May 10, 2025)
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Orientation Uncertainty Characteristics of Some Pose Measuring Systems
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Abstract
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.Citation
Mathematical Problems in Engineering
Volume
2017
Pub Type
Journals
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Keywords
pose measurement, six degrees of freedom, propagation of orientation uncertainty
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Created December 31, 2017, Updated November 10, 2018