Effects of surface model parameter uncertainties in object pose estimation

Mikko Sallinen, Tapio Heikkilä

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientific

Abstract

In this paper, we present a method to generate surface models based on a point cloud. Aim of the model generation is to produce surface forms which are easy to locate in a robot based workcell. We obtain the point cloud from workobject CAD model or the point cloud can be generated based on actual measurements from the surface of the workobject carried out using a robot and a range sensor. In addition to presenting the different parametric forms, we estimate the uncertainties of the surface model parameters and consider the effect of uncertainties in these model parameters in workobject localization. The estimation of surface parameters and workobject localization is carried out using Bayesian -form estimation method and all noises are considered when modelling the uncertainties of the system.
Original languageEnglish
Title of host publicationProceedings of the FSR2001
Place of PublicationHelsinki
Pages147-152
Publication statusPublished - 2001
MoE publication typeB3 Non-refereed article in conference proceedings
Event3rd International Conference on Field and Service Robotics - Espoo, Finland
Duration: 11 Jun 200113 Jun 2001

Conference

Conference3rd International Conference on Field and Service Robotics
Abbreviated titleFSR2001
CountryFinland
CityEspoo
Period11/06/0113/06/01

Fingerprint

Robots
Computer aided design
Uncertainty
Sensors

Keywords

  • surface modelling
  • uncertainty estimation
  • Bayesian estimation
  • Parametric surfaces
  • pose estimation

Cite this

Sallinen, M., & Heikkilä, T. (2001). Effects of surface model parameter uncertainties in object pose estimation. In Proceedings of the FSR2001 (pp. 147-152). Helsinki.
Sallinen, Mikko ; Heikkilä, Tapio. / Effects of surface model parameter uncertainties in object pose estimation. Proceedings of the FSR2001. Helsinki, 2001. pp. 147-152
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title = "Effects of surface model parameter uncertainties in object pose estimation",
abstract = "In this paper, we present a method to generate surface models based on a point cloud. Aim of the model generation is to produce surface forms which are easy to locate in a robot based workcell. We obtain the point cloud from workobject CAD model or the point cloud can be generated based on actual measurements from the surface of the workobject carried out using a robot and a range sensor. In addition to presenting the different parametric forms, we estimate the uncertainties of the surface model parameters and consider the effect of uncertainties in these model parameters in workobject localization. The estimation of surface parameters and workobject localization is carried out using Bayesian -form estimation method and all noises are considered when modelling the uncertainties of the system.",
keywords = "surface modelling, uncertainty estimation, Bayesian estimation, Parametric surfaces, pose estimation",
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Sallinen, M & Heikkilä, T 2001, Effects of surface model parameter uncertainties in object pose estimation. in Proceedings of the FSR2001. Helsinki, pp. 147-152, 3rd International Conference on Field and Service Robotics, Espoo, Finland, 11/06/01.

Effects of surface model parameter uncertainties in object pose estimation. / Sallinen, Mikko; Heikkilä, Tapio.

Proceedings of the FSR2001. Helsinki, 2001. p. 147-152.

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientific

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AU - Heikkilä, Tapio

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N2 - In this paper, we present a method to generate surface models based on a point cloud. Aim of the model generation is to produce surface forms which are easy to locate in a robot based workcell. We obtain the point cloud from workobject CAD model or the point cloud can be generated based on actual measurements from the surface of the workobject carried out using a robot and a range sensor. In addition to presenting the different parametric forms, we estimate the uncertainties of the surface model parameters and consider the effect of uncertainties in these model parameters in workobject localization. The estimation of surface parameters and workobject localization is carried out using Bayesian -form estimation method and all noises are considered when modelling the uncertainties of the system.

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Sallinen M, Heikkilä T. Effects of surface model parameter uncertainties in object pose estimation. In Proceedings of the FSR2001. Helsinki. 2001. p. 147-152