RT Journal Article
SR Electronic
T1 Accurate Covariance Estimation for Pose Data From Iterative Closest Point Algorithm
JF NAVIGATION: Journal of the Institute of Navigation
JO NAVIGATION
FD Institute of Navigation
SP navi.562
DO 10.33012/navi.562
VO 70
IS 2
A1 Yuan, Rick H.
A1 Taylor,, Clark N.
A1 Nykl, Scott L.
YR 2023
UL https://navi.ion.org/content/70/2/navi.562.abstract
AB 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.