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

    4 Citations (Scopus)

    Abstract

    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
    Pages334-343
    ISBN (Print)0-8194-4689-0
    DOIs
    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
    Volume4902
    ISSN0277-786X

    Conference

    ConferenceOptomechatronic Systems III
    CountryGermany
    CityStuttgart
    Period12/11/0214/11/02

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    estimating
    propagation
    eigenvectors
    eigenvalues
    sensors
    estimates
    simulation

    Cite this

    Sallinen, M., & Heikkilä, T. (2002). Effect of noise level for estimating the spatial uncertainties of workobject localization. In Optomechatronic Systems III (pp. 334-343). International Society for Optics and Photonics SPIE. Proceedings of SPIE, Vol.. 4902 https://doi.org/10.1117/12.469920
    Sallinen, Mikko ; Heikkilä, Tapio. / Effect of noise level for estimating the spatial uncertainties of workobject localization. Optomechatronic Systems III. International Society for Optics and Photonics SPIE, 2002. pp. 334-343 (Proceedings of SPIE, Vol. 4902).
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    title = "Effect of noise level for estimating the spatial uncertainties of workobject localization",
    abstract = "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.",
    author = "Mikko Sallinen and Tapio Heikkil{\"a}",
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    isbn = "0-8194-4689-0",
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    Sallinen, M & Heikkilä, T 2002, Effect of noise level for estimating the spatial uncertainties of workobject localization. in Optomechatronic Systems III. International Society for Optics and Photonics SPIE, Proceedings of SPIE, vol. 4902, pp. 334-343, Optomechatronic Systems III, Stuttgart, Germany, 12/11/02. https://doi.org/10.1117/12.469920

    Effect of noise level for estimating the spatial uncertainties of workobject localization. / Sallinen, Mikko; Heikkilä, Tapio.

    Optomechatronic Systems III. International Society for Optics and Photonics SPIE, 2002. p. 334-343 (Proceedings of SPIE, Vol. 4902).

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

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    T1 - Effect of noise level for estimating the spatial uncertainties of workobject localization

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    AU - Heikkilä, Tapio

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    N2 - 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.

    AB - 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.

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    Sallinen M, Heikkilä T. Effect of noise level for estimating the spatial uncertainties of workobject localization. In Optomechatronic Systems III. International Society for Optics and Photonics SPIE. 2002. p. 334-343. (Proceedings of SPIE, Vol. 4902). https://doi.org/10.1117/12.469920