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

Mikko Sallinen, Tapio Heikkilä

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-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 languageEnglish
    Title of host publicationAdvances in Networked Enterprises
    Subtitle of host publicationBASYS 2000
    PublisherSpringer
    Pages421-430
    ISBN (Electronic)978-0-387-35529-0
    ISBN (Print)978-1-4757-4445-3
    DOIs
    Publication statusPublished - 2000
    MoE publication typeA4 Article in a conference publication
    EventInternational Conference on Information Technology for Balanced Automation Systems - Berlin, Germany
    Duration: 27 Sep 200029 Sep 2000

    Publication series

    SeriesIFIP International Federation for Information Processing
    Volume53
    ISSN1868-4238

    Conference

    ConferenceInternational Conference on Information Technology for Balanced Automation Systems
    Abbreviated titleBASYS 2000
    CountryGermany
    CityBerlin
    Period27/09/0029/09/00

    Fingerprint

    Calibration
    Lasers
    Industrial robots
    Sensors
    Uncertainty

    Cite this

    Sallinen, M., & Heikkilä, T. (2000). A simple hand-eye calibration method for a 3D laser range sensor. In Advances in Networked Enterprises: BASYS 2000 (pp. 421-430). Springer. IFIP International Federation for Information Processing, Vol.. 53 https://doi.org/10.1007/978-0-387-35529-0_40
    Sallinen, Mikko ; Heikkilä, Tapio. / A simple hand-eye calibration method for a 3D laser range sensor. Advances in Networked Enterprises: BASYS 2000. Springer, 2000. pp. 421-430 (IFIP International Federation for Information Processing, Vol. 53).
    @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}",
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    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, 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 proceedingConference article in proceedingsScientificpeer-review

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    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.

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    Sallinen M, Heikkilä T. A simple hand-eye calibration method for a 3D laser range sensor. In Advances in Networked Enterprises: BASYS 2000. Springer. 2000. p. 421-430. (IFIP International Federation for Information Processing, Vol. 53). https://doi.org/10.1007/978-0-387-35529-0_40