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Hi,

I am receiving 6 DOF pose estimates of an object from 3 cameras. I then choose a frame common to all cameras, ie, a world frame, and transform pose estimate from each camera to obtain pose estimate of object in world frame.

The pose estimates of the object in the world frame are - ( x, y , z, roll, pitch, yaw ) I have 3 measurements like this.

What is the way to combine them ? Can I simply take average of the 3 values ? Can I average the roll, pitch and yaw values from each pose estimate ? I've read somewhere that Euler angles are not additive and hence this query ....

Thanks!

Hi,

I am receiving 6 DOF pose estimates of an object from 3 cameras. I then choose a frame common to all cameras, ie, a world frame, and transform pose estimate from each camera to obtain pose estimate of object in world frame.

The pose estimates of the object in the world frame are - ( x, y , z, roll, pitch, yaw ) I have 3 measurements like this.

What is the best way to combine them ? I must emphasise I am not adding the Euler angles as I'm aware that they are not vectors, my purpose is to obtain a more robust reading since I have multiple cameras and hence I am taking the average for each of Roll, pitch and yaw.

Can I simply take average of the 3 values ? Can I average the roll, pitch and yaw values from each pose estimate ? I've read somewhere that Euler angles are not additive and hence this query ....

Thanks!