[Rock-dev] 3d point uncertainty
Javier Hidalgo Carrió
javier.hidalgo_carrio at dfki.de
Thu Nov 7 18:24:39 CET 2013
Hello,
I am hesitating if it is worthy to include uncertainty in the point
cloud: /base/samples/Pointcloud.hpp
In the same manner that color information: leave the field empty if no
uncertainty is needed in order to reduce data volume (
std::vector<base::Matrix3f> uncertainty;)
The rational behind is to have something similar to the enclosed figure
when the 3d point comes from stereo triangulation. I guess uncertainty
is more needed when 3d points are affected by projection errors and much
less when the point cloud comes from lasers scans.
Since this would affect a base-type. I would appreciate any idea or
suggestion.
Javier.
P.S: The figure is from the paper "Robust visual odometry using stereo
reconstruction error model"
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