Revision history [back]

I have some approach but didn't get to implement it yet. The idea is to store the pose uncertainty similar to a Sigma-Point Approximation in (a) tf child-frame(s) of the frame that is affected by uncertainty. One could then still use the normal tf listeners etc, giving him the most probable coordinates, as the main frame would represent the mean of the pose distribution. I would then implement a new class inheriting from the tf listener that when queried checks for the respective child frames along the connection of the queried frames and handles the uncertainty propagation. The listener would then return the transforms as usual and additionally the uncertainty as a covariance matrix or such. I guess we could do this based on the pose_cov_ops package? Not considering loop closures, i guess it shouldn't be too hard.

I have some approach but didn't get to implement it yet. The idea is to store the pose uncertainty similar to a Sigma-Point Approximation in (a) tf child-frame(s) child-frames of the frame that is affected by uncertainty. One could then still use the normal tf listeners etc, giving him the most probable coordinates, as the main frame would represent the mean of the pose distribution. I would then implement a new class inheriting from the tf listener that when queried checks for the respective child frames along the connection of the queried frames and handles the uncertainty propagation. The listener would then return the transforms as usual and additionally the uncertainty as a covariance matrix or such. I guess we could do this based on the pose_cov_ops package? Not considering loop closures, i guess it shouldn't be too hard.

I have some approach but didn't get to implement it yet. The idea is to store the pose uncertainty similar to a Sigma-Point Approximation in tf child-frames of the frame that is affected by uncertainty. One could then still use the normal tf listeners etc, giving him the most probable coordinates, as the main frame would represent the mean of the pose distribution. I would then implement a new class inheriting from the tf listener that when queried checks for the respective 'uncertainty' child frames along the connection of chain connecting the queried frames and handles the uncertainty propagation. The listener would then return the transforms as usual (the mean) and additionally the uncertainty as a covariance matrix or such. I guess we could do this based on the pose_cov_ops package? Not considering Leaving out loop closures, i guess it shouldn't be too hard.hard. TF was not meant to handle circular frame connections afaik.