Flexible Workobject Localisation for CAD -Based Robotics

Mikko Sallinen, Tapio Heikkilä

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

    12 Citations (Scopus)


    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.
    Original languageEnglish
    Title of host publicationIntelligent Robots and Computer Vision XIX
    Subtitle of host publicationAlgorithms, Techniques, and Active Vision
    EditorsDavid P. Casasent
    PublisherInternational Society for Optics and Photonics SPIE
    ISBN (Print)978-0-8194-3862-1
    Publication statusPublished - 2000
    MoE publication typeA4 Article in a conference publication
    EventIntelligent Systems and Smart Manufacturing - Boston, United States
    Duration: 7 Nov 20008 Nov 2000

    Publication series

    SeriesProceedings of SPIE


    ConferenceIntelligent Systems and Smart Manufacturing
    Country/TerritoryUnited States


    • pose estimation
    • spatial uncertainty
    • Bayesian model
    • B-spline surface patch
    • hand-eye calibration


    Dive into the research topics of 'Flexible Workobject Localisation for CAD -Based Robotics'. Together they form a unique fingerprint.

    Cite this