Patent ID: 11935284
Assignee: nan
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 4:
5. The method of claim 4, wherein the Gaussian distribution has a mean μj and a covariance matrix Σj defined as:, ∑
      
    
    J
   
   =
   
    
     (
     
      
       
        ∑
         
       
       s
       
         
        
         -
         1
        
       
      
      +
      
       
        ∑
         
       
       z
       
        -
        1
       
      
     
     )
    
    
     -
     1
    
   
  
  ,
  
   
    μ
    J
   
   =
   
    
     
      ∑
       
     
     J
     
      -
      1
     
    
    ·
    
     (
     
      
       
        
         ∑
          
        
        s
        
         -
         1
        
       
       ⁢
       
        μ
        s
       
      
      +
      
       
        
         ∑
          
        
        z
        
         -
         1
        
       
       ⁢
       
        μ
        z
       
      
     
     )
    
   
  
 

 where the terms Σs, representing a covariance matrix, and μs, representing a mean vector, are obtained through applying the class model to the trajectory sample X0:k and to the object pose sample o, and where the terms Σz, representing a covariance matrix, and μz, representing a mean vector, are constructed from sets of classifier measurement samples, such that μs and μz respectively represent the vectors:, μ
   s
  
  =
  
   
    
     (
     
      
       
        
         μ
         0
        
       
      
      
       
        ⋮
       
      
      
       
        
         μ
         
          k
          -
          1
         
        
       
      
      
       
        
         μ
         k
        
       
      
     
     )
    
    ⁢
       
    
     μ
     z
    
   
   =
   
    (
    
     
      
       
        μ
        
         z
         ⁢
         0
        
       
      
     
     
      
       ⋮
      
     
     
      
       
        μ
        
         z
         
          k
          -
          1
         
        
       
      
     
     
      
       0
      
     
    
    )
   
  
 

 and wherein Σs−1 and Σz−1 respectively represent the matrices:, ∑
     
   
   s
   
    -
    1
   
  
  =
  
   [
   
    
     
      
       
        -
        Ω
       
      
      
       
        
         I
         ]
        
        T
       
      
     
    
    ⁢
       
    
     
      
       ∑
        
      
      
       
        k
        |
        0
       
       :
       
        k
        -
        1
       
      
      
       -
       1
      
     
     [
     
      
       
        
         -
         Ω
        
       
       
        
         I
         ]
        
       
      
     
    
   
  
 

 and, ∑
     
   
   z
   
    -
    1
   
  
  ⁢
  
   (
   
    
     
      
       
        ∑
         
       
       
        z
        0
       
       
        -
        1
       
      
     
     
      0
     
     
      ⋯
     
     
      0
     
    
    
     
      0
     
     
      ⋱
     
     
       
     
     
      ⋮
     
    
    
     
      ⋮
     
     
       
     
     
      
       
        ∑
         
       
       
        z
        
         k
         -
         1
        
       
       
        -
        1
       
      
     
     
      0
     
    
    
     
      0
     
     
      ⋯
     
     
      0
     
     
      0
     
    
   
   )