MPG - Fast forward reasoning on 6 DOF pose uncertainty

7th German Conference on Robotics, ROBOTIK 2012

Volumn , Issue , 2012, Pages 273-278

  Lang, Muriel ^a   Feiten, Wendelin ^b  

^a TECHNICAL UNIVERSITY OF MUNICH   (Germany)

^b SIEMENS AG   (Germany)

Author keywords

Forward perception; Pose estimation; Probabilistic inference

Indexed keywords

AGRICULTURAL ROBOTS; DEGREES OF FREEDOM (MECHANICS); ROBOTICS;

CLOSED FORM; DUAL QUATERNION; EXPLICIT TREATMENTS; FAST FORWARD; FEATURE TYPES; OBJECT POSE; RIGID MOTIONS; TARGET OBJECT;

PROBABILITY DENSITY FUNCTION;

EID: 84890814152     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

1. Muriel Lang. Approximation of probability density functions on the euclidean group parameterized by dual quaternions, January 2011. Diploma thesis.
2. Seth Teller and Matthew E. Antone. Robust camera pose recovery using stochastic geometry. Technical report, Proceedings of the AOIS-2001, 2001.
3. Monte Carlo Pose Estimation with Quaternion Kernels and the Bingham Distribution, Los Angeles, USA, 2011. Submitted to Robotics: Science and Systems (RSS 2011).
4. J. J. Love. Bingham statistics. In Encyclopedia of Geomagnetism & Paleomagnetism, pages 45-47. Springer, Dordrecht, The Netherlands, 2007.
5. K. V. Mardia, C. C. Taylor, and G.K. Subramaniam. srotein bioinformatics and mixtures of bivariate von mises distributions for angular data. Biometrics, 63(2):505-512, June 2007.
6. MPG-A Framework for Reasoning on 6 DOF Pose Uncertainty, Corporate Technology, Intelligent Systems & Control, Siemens AG, D-80200 Munich, 2011. sCRA Workshop on Manipulation Under Uncertainty.
7. Hans-Joachim Bungartz and Michael Griebel. Sparse grids. Acta Numerica, 13:147-269, May 2004.
8. Dirk Pflüger. Spatially Adaptive Sparse Grids for High-Dimensional Problems. Verlag Dr. Hut, München, August 2010.