Abstract
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 language | English |
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| 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 |
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| Country/Territory | United States |
| City | Boston |
| Period | 7/11/00 → 8/11/00 |
Keywords
- pose estimation
- spatial uncertainty
- Bayesian model
- B-spline surface patch
- hand-eye calibration