{"paper":{"title":"An SE(3) Noise Model for Range-Azimuth-Elevation Sensors","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"James Richard Forbes, Thomas Hitchcox","submitted_at":"2025-04-26T19:43:55Z","abstract_excerpt":"Scan matching is a widely used technique in state estimation. Point-cloud alignment, one of the most popular methods for scan matching, is a weighted least-squares problem in which the weights are determined from the inverse covariance of the measured points. An inaccurate representation of the covariance will affect the weighting of the least-squares problem. For example, if ellipsoidal covariance bounds are used to approximate the curved, \"banana-shaped\" noise characteristics of many scanning sensors, the weighting in the least-squares problem may be overconfident. Additionally, sensor-to-ve"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.19009","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2504.19009/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}