Efficient Probabilistic Collision Detection for Non-Gaussian Noise Distributions
Efficient Probabilistic Collision Detection for Non-Gaussian Noise Distributions
We present an efficient algorithm to compute tight upper bounds of collision probability between two objects with positional uncertainties, whose error distributions are represented with non-Gaussian forms. Our approach can handle noisy datasets from depth sensors, whose distributions may correspond to Truncated Gaussian, Weighted Samples, or Truncated Gaussian Mixture Model. …