Orientation Uncertainty Characteristics of Some Pose Measuring Systems

Figure 3

Spatial distribution of the three eigenvectors corresponding to the three eigenvalues of the covariance matrix for orientation , : (a) M = 12, vector bars in configuration (a); (b) M = 27, vector bars in configuration (b). Both graphs are from the same view direction and the axes are unitless. Dotted lines denote eigenvectors associated with the smallest eigenvalue while solid lines are used to plot eigenvectors associated with the largest eigenvalue . The thick dark gray line indicates the direction of eigenvector of moment of inertia matrix for corresponding configuration of vector bars.

(a)

(b)