Authors:
Nicolas Pugeault
1
;
Sinan Kalkan
2
;
Florentin Wörgötter
2
;
Emre Baseski
3
and
Norbert Krüger
3
Affiliations:
1
University of Edinburgh, United Kingdom
;
2
University of Göttingen, Germany
;
3
Syddansk University, Denmark
Keyword(s):
Uncertainty, stereo, reconstruction, relations, geometry.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Biomedical Engineering
;
Biomedical Signal Processing
;
Data Manipulation
;
Health Engineering and Technology Applications
;
Human-Computer Interaction
;
Methodologies and Methods
;
Neurocomputing
;
Neurotechnology, Electronics and Informatics
;
Pattern Recognition
;
Physiological Computing Systems
;
Sensor Networks
;
Soft Computing
Abstract:
In this paper, we first propose an analytic formulation for the position’s and orientation’s uncertainty of local 3D line descriptors reconstructed by stereo. We evaluate these predicted uncertainties with Monte Carlo simulations, and study their dependency on different parameters (position and orientation). In a second part, we use this definition to derive a new formulation for inter–features distance and coplanarity. These new formulations take into account the predicted uncertainty, allowing for better robustness. We demonstrate the positive effect of the modified definitions on some simple scenarios.