Estimation of the surface model parameters and analysis of spatial uncertainties

Mikko Sallinen, Tapio Heikkilä

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

3 Citations (Scopus)

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 languageEnglish
Title of host publicationConference Documentation International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI 2001
PublisherIEEE Institute of Electrical and Electronic Engineers
Pages209-214
ISBN (Print)3-00-008260-3
DOIs
Publication statusPublished - 2001
MoE publication typeA4 Article in a conference publication
EventIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2001 - Baden-Baden, Germany
Duration: 19 Aug 200122 Aug 2001

Conference

ConferenceIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2001
CountryGermany
CityBaden-Baden
Period19/08/0122/08/01

Fingerprint

computer aided design
uncertainty analysis
estimation method
analysis
parameter
sensor
matrix
modeling
effect

Keywords

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

Cite this

Sallinen, M., & Heikkilä, T. (2001). Estimation of the surface model parameters and analysis of spatial uncertainties. In Conference Documentation International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI 2001 (pp. 209-214). IEEE Institute of Electrical and Electronic Engineers . https://doi.org/10.1109/MFI.2001.1013536
Sallinen, Mikko ; Heikkilä, Tapio. / Estimation of the surface model parameters and analysis of spatial uncertainties. Conference Documentation International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI 2001. IEEE Institute of Electrical and Electronic Engineers , 2001. pp. 209-214
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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.",
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Sallinen, M & Heikkilä, T 2001, Estimation of the surface model parameters and analysis of spatial uncertainties. in Conference Documentation International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI 2001. IEEE Institute of Electrical and Electronic Engineers , pp. 209-214, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2001, Baden-Baden, Germany, 19/08/01. https://doi.org/10.1109/MFI.2001.1013536

Estimation of the surface model parameters and analysis of spatial uncertainties. / Sallinen, Mikko; Heikkilä, Tapio.

Conference Documentation International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI 2001. IEEE Institute of Electrical and Electronic Engineers , 2001. p. 209-214.

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

TY - GEN

T1 - Estimation of the surface model parameters and analysis of spatial uncertainties

AU - Sallinen, Mikko

AU - Heikkilä, Tapio

N1 - Project code: A1SU00252

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N2 - 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.

AB - 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.

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KW - pose estimation

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BT - Conference Documentation International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI 2001

PB - IEEE Institute of Electrical and Electronic Engineers

ER -

Sallinen M, Heikkilä T. Estimation of the surface model parameters and analysis of spatial uncertainties. In Conference Documentation International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI 2001. IEEE Institute of Electrical and Electronic Engineers . 2001. p. 209-214 https://doi.org/10.1109/MFI.2001.1013536