Orientation Uncertainty Characteristics of Some Pose Measuring Systems

Figure 8

Optimal placement of fiducials for a given Point of Interest . Gray diamonds indicate an initial configuration of fiducials, shows the direction of the principal axis corresponding to the smallest moment of inertia for the initial configuration, and two extra fiducials and are placed on line at a distance on each side of center . For sufficiently large , the principal axis of the new configuration for fiducials will be closely aligned with line.