[Rock-dev] 3d point uncertainty

[Alexander Duda]

On 11/07/2013 06:24 PM, Javier Hidalgo Carrió wrote:
> 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.
>
 From my point of view it makes to add this kind of informations to the 
point cloud. The only problem we might get is that the log files are no 
longer compatible and must be updated.

Alex


> Javier.
>
> P.S: The figure is from the paper "Robust visual odometry using stereo 
> reconstruction error model"
>
>
>
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-- 
Dipl.-Ing. Alexander Duda
Unterwasserrobotik

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