pytransform3d.uncertainty.estimate_gaussian_transform_from_samples

pytransform3d.uncertainty.estimate_gaussian_transform_from_samples(samples)

Estimate Gaussian distribution over transformations from samples.

Uses iterative approximation of mean described by Eade (2017) and computes covariance in exponential coordinate space (using an unbiased estimator).

Parameters:

samplesarray-like, shape (n_samples, 4, 4)

Sampled transformations represented by homogeneous matrices.

Returns:

meanarray, shape (4, 4)

Mean as homogeneous transformation matrix.

covarray, shape (6, 6)

Covariance of distribution in exponential coordinate space.

References

Eade: Lie Groups for 2D and 3D Transformations (2017), https://ethaneade.com/lie.pdf