COVARIANCE-BASED POSE ESTIMATION (COPE)

Author: Huy Nguyen

This is cope, a library for working with uncertainty in pose estimation. It includes:

• SO(3), SE(3) functionalities.

• Predicting the covariance of X in the AX=XB.

• Touch-based estimation in cluttered environment using particle filter.

Requirements and Installation

• cope requires Python >= 2.7. If you do not already have a Python environment configured on your computer, please see the instructions for installing the full scientific Python stack.

• Touch-based estimation module requires trimesh for loading and using triangular meshes. To install trimesh, please see https://github.com/mikedh/trimesh

• To install the latest version of cope:

   git clone https://github.com/dinhhuy2109/python-cope.git
   cd python-cope
   sudo python setup.py install

Basic usage and examples

Please see the wiki page for more details.