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Method and System for Registering an Object with a Probe Using Entropy-Based Motion Selection and Rao-Blackwellized Particle Filtering
Method and System for Registering an Object with a Probe Using Entropy-Based Motion Selection and Rao-Blackwellized Particle Filtering
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机译:使用基于熵的运动选择和Rao-Blackwellized粒子滤波向探针注册对象的方法和系统
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摘要
A probe is registered with an object by probing the object with the probe at multiple poses, wherein each pose of the probe includes a location and an orientation. A probability distribution of a current location of the probe is represented by a set of particles, and a probability distribution of a current orientation of the probe is represented by a Gaussian distribution for each particle conditioned on the current location. A set of candidate motions is chosen, and for each candidate motion, an expected uncertainty based on the set of particles is determined. The candidate motion with a least expected uncertainty is selected as a next motion of the probe, the probe is moved according to the next motion, and the set of particles is updated using the next pose of the probe.
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