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Orientation Uncertainty Characteristics of Some Pose Measuring Systems.

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Pose measuring systems using fiducial markers have anisotropic uncertainty propagation. The direction of smallest uncertainty is stable, but largest uncertainty direction varies unpredictably with object rotation.

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Area of Science:

  • Robotics and Computer Vision
  • Metrology and Measurement Science

Background:

  • Pose measuring systems rely on fiducial markers for object orientation.
  • Point-based, rigid body registration is commonly used to determine orientation matrices.
  • Measurement uncertainty in fiducials directly impacts orientation matrix accuracy.

Purpose of the Study:

  • To analyze the anisotropic propagation of measurement uncertainty in pose estimation systems.
  • To identify the factors influencing uncertainty direction in orientation matrices.
  • To investigate the practical implications of pose uncertainty for object surface points.

Main Methods:

  • Investigated uncertainty propagation from fiducial marker measurements to orientation matrices.
  • Analyzed the covariance matrix of orientation data to determine eigenvectors and eigenvalues.
  • Examined the anisotropic nature of uncertainty propagation to object surface points.

Main Results:

  • Orientation uncertainty propagation is anisotropic.
  • The direction of minimum uncertainty is consistently linked to a specific eigenvector of the orientation data's covariance matrix.
  • The direction of maximum uncertainty is pose-dependent and difficult to predict.

Conclusions:

  • The stability of minimum uncertainty direction offers potential for system calibration.
  • The unpredictable nature of maximum uncertainty direction poses challenges for applications requiring high precision in all directions.
  • Understanding these anisotropic effects is crucial for designing robust pose measurement systems.