CLOSURE: Fast Quantification of Pose Uncertainty Sets

Understand

We investigate uncertainty quantification of 6D pose estimation from learned noisy measurements (e.g.

• keypoints and pose hypotheses).
• Assuming unknown-but-bounded measurement noises, a pose uncertainty set (PURSE) is a subset of SE(3) that contains all possible 6D poses compatible with the measurements.
• Despite being simple to formulate and its ability to embed uncertainty, the PURSE is difficult to manipulate and interpret due to the many abstract nonconvex polynomial constraints.