A simple hand-eye calibration method for a 3D laser range sensor

Mikko Sallinen; Tapio Heikkilä

doi:10.1007/978-0-387-35529-0_40

A simple hand-eye calibration method for a 3D laser range sensor

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

Abstract

A simple and a reliable full pose (translation and orientation) calibration for a range sensor is necessary for the measurement applications of industrial robots.In this paper we present a method based on hand-eye- calibration.We estimate the parameters using the Bayesian -form iterative model, which also provides possibilities to estimate error covariances of the pose parameters.In addition to this, we can use the sensor error covariance to estimate to combined uncertainty in e.g. measurement applications.

Original language	English
Title of host publication	Advances in Networked Enterprises
Subtitle of host publication	BASYS 2000
Publisher	Springer
Pages	421-430
ISBN (Electronic)	978-0-387-35529-0
ISBN (Print)	978-1-4757-4445-3
DOIs	https://doi.org/10.1007/978-0-387-35529-0_40
Publication status	Published - 2000
MoE publication type	A4 Article in a conference publication
Event	International Conference on Information Technology for Balanced Automation Systems - Berlin, Germany Duration: 27 Sept 2000 → 29 Sept 2000

Publication series

Series	IFIP International Federation for Information Processing
Volume	53
ISSN	1868-4238

Conference

Conference	International Conference on Information Technology for Balanced Automation Systems
Abbreviated title	BASYS 2000
Country/Territory	Germany
City	Berlin
Period	27/09/00 → 29/09/00

Access to Document

10.1007/978-0-387-35529-0_40

Cite this

@inproceedings{dc798b0c37a84bfda09de9e6e0413368,

title = "A simple hand-eye calibration method for a 3D laser range sensor",

abstract = "A simple and a reliable full pose (translation and orientation) calibration for a range sensor is necessary for the measurement applications of industrial robots.In this paper we present a method based on hand-eye- calibration.We estimate the parameters using the Bayesian -form iterative model, which also provides possibilities to estimate error covariances of the pose parameters.In addition to this, we can use the sensor error covariance to estimate to combined uncertainty in e.g. measurement applications.",

author = "Mikko Sallinen and Tapio Heikkil{\"a}",

note = "Project code: A9SU00755; International Conference on Information Technology for Balanced Automation Systems, BASYS 2000 ; Conference date: 27-09-2000 Through 29-09-2000",

year = "2000",

doi = "10.1007/978-0-387-35529-0_40",

language = "English",

isbn = "978-1-4757-4445-3",

series = "IFIP International Federation for Information Processing",

publisher = "Springer",

pages = "421--430",

booktitle = "Advances in Networked Enterprises",

address = "Germany",

}

Sallinen, M & Heikkilä, T 2000, A simple hand-eye calibration method for a 3D laser range sensor. in Advances in Networked Enterprises: BASYS 2000. Springer, IFIP International Federation for Information Processing, vol. 53, pp. 421-430, International Conference on Information Technology for Balanced Automation Systems, Berlin, Berlin, Germany, 27/09/00. https://doi.org/10.1007/978-0-387-35529-0_40

A simple hand-eye calibration method for a 3D laser range sensor. / Sallinen, Mikko; Heikkilä, Tapio.
Advances in Networked Enterprises: BASYS 2000. Springer, 2000. p. 421-430 (IFIP International Federation for Information Processing, Vol. 53).

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - A simple hand-eye calibration method for a 3D laser range sensor

AU - Sallinen, Mikko

AU - Heikkilä, Tapio

N1 - Project code: A9SU00755

PY - 2000

Y1 - 2000

N2 - A simple and a reliable full pose (translation and orientation) calibration for a range sensor is necessary for the measurement applications of industrial robots.In this paper we present a method based on hand-eye- calibration.We estimate the parameters using the Bayesian -form iterative model, which also provides possibilities to estimate error covariances of the pose parameters.In addition to this, we can use the sensor error covariance to estimate to combined uncertainty in e.g. measurement applications.

AB - A simple and a reliable full pose (translation and orientation) calibration for a range sensor is necessary for the measurement applications of industrial robots.In this paper we present a method based on hand-eye- calibration.We estimate the parameters using the Bayesian -form iterative model, which also provides possibilities to estimate error covariances of the pose parameters.In addition to this, we can use the sensor error covariance to estimate to combined uncertainty in e.g. measurement applications.

U2 - 10.1007/978-0-387-35529-0_40

DO - 10.1007/978-0-387-35529-0_40

M3 - Conference article in proceedings

SN - 978-1-4757-4445-3

T3 - IFIP International Federation for Information Processing

SP - 421

EP - 430

BT - Advances in Networked Enterprises

PB - Springer

T2 - International Conference on Information Technology for Balanced Automation Systems

Y2 - 27 September 2000 through 29 September 2000

ER -

A simple hand-eye calibration method for a 3D laser range sensor

Abstract

Publication series

Conference

Access to Document

Fingerprint

Cite this