pytransform3d.uncertainty.pose_fusion¶
- pytransform3d.uncertainty.pose_fusion(means, covs)[source]¶
Fuse Gaussian distributions of multiple poses.
- Parameters:
- meansarray-like, shape (n_poses, 4, 4)
Homogeneous transformation matrices.
- covsarray-like, shape (n_poses, 6, 6)
Covariances of pose distributions in exponential coordinate space.
- Returns:
- meanarray, shape (4, 4)
Fused pose mean.
- covarray, shape (6, 6)
Fused pose covariance.
- Vfloat
Error of optimization objective.
References
Barfoot, Furgale: Associating Uncertainty With Three-Dimensional Poses for Use in Estimation Problems, http://ncfrn.mcgill.ca/members/pubs/barfoot_tro14.pdf
