Abstract
In this paper, we present a methd to estimate surface models based on a point cloud taken from the surface of the workobject. The models we generate are used in a robot based workcell for localization of the workobject. The approach to the problem is that we can 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 surface forms, we estimate the uncertainties of the surface model parameters and consider the effect of uncertainties in model parameters in workobject localization. The estimation of the surface parameters and workobject localization is carried out using Bayesian - form estimation method and all the noises are considered when modelling the uncertainties of the system. The uncertainty analysis is based on observing the error covariance matrix of the estimated parameters.
| Original language | English |
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| Title of host publication | Conference Documentation International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI 2001 |
| Publisher | IEEE Institute of Electrical and Electronic Engineers |
| Pages | 209-214 |
| ISBN (Print) | 3-00-008260-3 |
| DOIs | |
| Publication status | Published - 2001 |
| MoE publication type | A4 Article in a conference publication |
| Event | IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2001 - Baden-Baden, Germany Duration: 19 Aug 2001 → 22 Aug 2001 |
Conference
| Conference | IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2001 |
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| Country/Territory | Germany |
| City | Baden-Baden |
| Period | 19/08/01 → 22/08/01 |
Keywords
- surface modelling
- uncertainty estimation
- Bayesian estimation
- parametric surfaces
- pose estimation