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Uncertainty minimization in the localization of polyhedral objects

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1 Author(s)
Caglioti, V. ; Dept. of Electron. & Inf., Politecnico di Milano, Italy

A straightforward method is presented for the determination of the optimal sensor exploration in the localization of a polyhedral object, whose geometry is known. Optimality is intended in the sense of the a posteriori covariance matrix of the object position and orientation parameters. The method consists in decomposing the problem into simpler subproblems, each one relative to a single planar face of the object. It requires reasonable processing time, i.e. comparable with the sensor activation time

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Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:16 ,  Issue: 5 )