TY - JOUR T1 - Accurate Covariance Estimation for Pose Data From Iterative Closest Point Algorithm JF - NAVIGATION: Journal of the Institute of Navigation JO - NAVIGATION DO - 10.33012/navi.562 VL - 70 IS - 2 SP - navi.562 AU - Rick H. Yuan AU - Clark N. Taylor, AU - Scott L. Nykl Y1 - 2023/06/20 UR - https://navi.ion.org/content/70/2/navi.562.abstract N2 - One of the fundamental problems of robotics and navigation is the estimation of the relative pose of an external object with respect to the observer. A common method for computing the relative pose is the iterative closest point (ICP) algorithm, where a reference point cloud of a known object is registered against a sensed point cloud to determine relative pose. To use this computed pose information in downstream processing algorithms, it is necessary to estimate the uncertainty of the ICP output, typically represented as a covariance matrix. In this paper, a novel method for estimating uncertainty from sensed data is introduced. ER -