Abstract
| Original language | English |
|---|---|
| Title of host publication | Proceedings of SPIE Intelligent Robots and Computer Vision XIX |
| Subtitle of host publication | Algorithms, Techniques, and Active Vision |
| Publisher | International Society for Optics and Photonics SPIE |
| Pages | 130-139 |
| ISBN (Print) | 0-8194-3862-6 |
| DOIs | |
| Publication status | Published - 2000 |
| MoE publication type | A4 Article in a conference publication |
| Event | Intelligent Systems and Smart Manufacturing - Boston, United States Duration: 7 Nov 2000 → 8 Nov 2000 |
Conference
| Conference | Intelligent Systems and Smart Manufacturing |
|---|---|
| Country | United States |
| City | Boston |
| Period | 7/11/00 → 8/11/00 |
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Keywords
- pose estimation
- spatial uncertainty
- Bayesian model
- B-spline surface patch
- hand-eye calibration
Cite this
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Flexible Workobject Localisation for CAD -Based Robotics. / Sallinen, Mikko; Heikkilä, Tapio.
Proceedings of SPIE Intelligent Robots and Computer Vision XIX: Algorithms, Techniques, and Active Vision. International Society for Optics and Photonics SPIE, 2000. p. 130-139.Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review
TY - GEN
T1 - Flexible Workobject Localisation for CAD -Based Robotics
AU - Sallinen, Mikko
AU - Heikkilä, Tapio
N1 - Project code: A9SU00755
PY - 2000
Y1 - 2000
N2 - In this paper a method to locate workobjects with splined surfaces and estimate the spatial uncertainties of the estimated parameters is presented. The reference B-spline surface patch is selected from a workobject CAD- model and is defined in the form of control vertices.The process includes the hand-eye calibration of the sensor, determination of the workobject localization and surface treating, e.g. inspection.The hand-eye calibration and workobject localization are carried out using the Bayesian form estimation with sensor fusion.Use of the recursive sensor fusion method makes calibration more flexible and accurate in handling large data sets.The spatial uncertainties in the form of eigenvalues in the direction of the eigenvectors are analyzed from the error covariance matrices of the estimated parameters.
AB - In this paper a method to locate workobjects with splined surfaces and estimate the spatial uncertainties of the estimated parameters is presented. The reference B-spline surface patch is selected from a workobject CAD- model and is defined in the form of control vertices.The process includes the hand-eye calibration of the sensor, determination of the workobject localization and surface treating, e.g. inspection.The hand-eye calibration and workobject localization are carried out using the Bayesian form estimation with sensor fusion.Use of the recursive sensor fusion method makes calibration more flexible and accurate in handling large data sets.The spatial uncertainties in the form of eigenvalues in the direction of the eigenvectors are analyzed from the error covariance matrices of the estimated parameters.
KW - pose estimation
KW - spatial uncertainty
KW - Bayesian model
KW - B-spline surface patch
KW - hand-eye calibration
U2 - 10.1117/12.403756
DO - 10.1117/12.403756
M3 - Conference article in proceedings
SN - 0-8194-3862-6
SP - 130
EP - 139
BT - Proceedings of SPIE Intelligent Robots and Computer Vision XIX
PB - International Society for Optics and Photonics SPIE
ER -