论文标题
使用球形谐波的三维同时形状和姿势估计扩展对象
Three-dimensional Simultaneous Shape and Pose Estimation for Extended Objects Using Spherical Harmonics
论文作者
论文摘要
我们提出了一种新的递归方法，用于同时估计三维扩展对象的姿势和形状。提出的方法的关键思想是使用球形谐波表示对象的形状，类似于在二维情况下可以使用傅立叶级数的方式。这使我们能够得出一个可以在UKF等非线性过滤器框架内使用的测量方程。我们提供新技术的模拟和实验评估。
We propose a new recursive method for simultaneous estimation of both the pose and the shape of a three-dimensional extended object. The key idea of the presented method is to represent the shape of the object using spherical harmonics, similar to the way Fourier series can be used in the two-dimensional case. This allows us to derive a measurement equation that can be used within the framework of nonlinear filters such as the UKF. We provide both simulative and experimental evaluations of the novel techniques.
