Imprecise probability for non-commuting observables

It is known that non-commuting observables in quantum mechanics do not have joint probability. This statement refers to the precise (additive) probability model. I show that the joint distribution of any non-commuting pair of variables can be quantified via upper and lower probabilities, i.e. the joint probability is described by an interval instead of a number (imprecise probability). I propose transparent axioms from which the upper and lower probability operators follow. The imprecise probability depend on the non-commuting observables, is linear over the state (density matrix) and reverts to the usual expression for commuting observables. (paper)