METHOD AND SYSTEM FOR REGISTERING PROBE WITH OBJECT BY PROBING OBJECT WITH PROBE AT MULTIPLE POSES

摘要

PROBLEM TO BE SOLVED: To provide a method for registering a probe with an object by proving the object with the probe at multiple poses.;SOLUTION: Each pose of a probe 110 includes a location and an orientation. A probability distribution of a current location of the probe 110 is represented by a set of particles (201) and a probability distribution of a current orientation of the probe 110 is represented by a Gaussian distribution for each particle conditioned on the current location. A set of candidate motions is chosen (215), and for each condition motion, an expected uncertainty based on the set of particles is determined (220). The candidate motion with the least expected uncertainty is selected as a next motion of the probe 110 (230), the probe 110 is moved according to the next motion (202), and the set of particles is updated by using the next pose of the probe 110 (210).;COPYRIGHT: (C)2013,JPO&INPIT