{"paper":{"title":"MPG - A Framework for Reasoning on 6 DOF Pose Uncertainty","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Muriel Lang, Wendelin Feiten","submitted_at":"2017-07-05T08:58:27Z","abstract_excerpt":"Reasoning about the pose, i.e. position and orientation of objects is one of the cornerstones of robotic manipulation under uncertainty. In a number of joint research projects our group is developing a robotic perception system that perceives and models an unprepared kitchen scenario with many objects. Since no single sensor or measurement provides sufficient information, a technique is needed to fuse a number of uncertain estimates of the pose, i.e. estimates with a widely stretched probability density function ($pdf$). The most frequently used approaches to describe the $pdfs$ are sample bas"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1707.01941","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}