Name
Title | ||
|---|---|---|
A new probability distribution for simultaneous representation of uncertain position and orientation |
Abstract | ||
|---|---|---|
This work proposes a novel way to represent uncertainty on the Lie group of rigid-body motions in the plane. This is achieved by using dual quaternions for representation of a planar rigid-body motion and proposing a probability distribution from the exponential family of distributions that inherently respects the underlying structure of the representation. This is particularly beneficial in scenarios involving strong measurement noise. A relationship between the newly proposed distributional model and the Bingham distribution is discussed. The presented results involve formulas for computation of the normalization constant, the mode, parameter estimation techniques, and a closed-form Bayesian measurement fusion. |
Year | Venue | Keywords |
|---|---|---|
2014 | Information Fusion | Lie groups,motion estimation,parameter estimation,statistical distributions,Bingham distribution,Lie group,closed-form Bayesian measurement fusion,measurement noise,normalization constant,orientation representation,parameter estimation techniques,position representation,probability distribution,rigid-body motion reprsentation,uncertain orientation,uncertain position,uncertainty representation,Bingham distribution,Lie groups,Pose estimation,SE(2),directional statistics,dual quaternions,probability theory |
DocType | Citations | PageRank |
Conference | 3 | 0.46 |
References | Authors | |
6 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Igor Gilitschenski | 1 | 78 | 13.89 |
| Gerhard Kurz | 2 | 78 | 13.41 |
| Julier, S.J. | 3 | 1971 | 192.03 |
| Uwe D. Hanebeck | 4 | 599 | 71.02 |