ジャークに白色雑音を仮定したSE(3)上の連続時間軌道推定モーション事前分布
A White-Noise-On-Jerk Motion Prior for Continuous-Time Trajectory Estimation on SE(3)
加速度ではなくジャークに白色雑音を仮定する新たなガウス過程事前分布を導出し、姿勢・体幹座標系の速度・加速度を同時推定するSTEAMの変種を提案。複数データセットで従来の加速度白色雑音事前分布より高精度な軌道推定を実現した。
著者: Tim Y. Tang, David J. Yoon, Timothy D. Barfoot
分類: cs.RO
原文アブストラクト
Simultaneous trajectory estimation and mapping (STEAM) offers an efficient approach to continuous-time trajectory estimation, by representing the trajectory as a Gaussian process (GP). Previous formulations of the STEAM framework use a GP prior that assumes white-noise-on-acceleration, with the prior mean encouraging constant body-centric velocity. We show that such a prior cannot sufficiently represent trajectory sections with non-zero acceleration, resulting in a bias to the posterior estimates. This paper derives a novel motion prior that assumes white-noise-on-jerk, where the prior mean encourages constant body-centric acceleration. With the new prior, we formulate a variation of STEAM that estimates the pose, body-centric velocity, and body-centric acceleration. By evaluating across several datasets, we show that the new prior greatly outperforms the white-noise-on-acceleration prior in terms of solution accuracy.
