pytransform3d.uncertainty.estimate_gaussian_transform_from_samples

pytransform3d.uncertainty.estimate_gaussian_transform_from_samples(samples)

Estimate Gaussian distribution over transformations from samples.

Computes the Fréchet mean of the samples and the covariance in tangent space (exponential coordinates of transformation) using an unbiased estimator as outlines by Eade [1].

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.

See also

frechet_mean

Algorithm used to compute the mean of the Gaussian.

References

[1]

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