Effect of noise level for estimating the spatial uncertainties of workobject localization

Mikko Sallinen, Tapio Heikkilä

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

    5 Citations (Scopus)


    In this paper, we present a method to estimate spatial uncertainties of a localized workobject using Bayesian estimation. We approch the problem of a sensor eye-in-hand calibration with error covariances by comparing the covariance propagation with Monte Carlo simulation and actual tests when the system noise level is changing. The spatial uncertainties are analysed using eigenvalues of the covariances in the direction of the respective eigenvectors. Results from the comparison between the different methods gives encouraging results and we believe that covariance propagation can be used in uncertainty estimation in different levels of noise.
    Original languageEnglish
    Title of host publicationOptomechatronic Systems III
    PublisherInternational Society for Optics and Photonics SPIE
    ISBN (Print)0-8194-4689-0
    Publication statusPublished - 2002
    MoE publication typeA4 Article in a conference publication
    EventOptomechatronic Systems III - Stuttgart, Germany
    Duration: 12 Nov 200214 Nov 2002

    Publication series

    SeriesProceedings of SPIE


    ConferenceOptomechatronic Systems III


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