Flexible Workobject Localisation for CAD -Based Robotics

Mikko Sallinen; Tapio Heikkilä

doi:10.1117/12.403756

Flexible Workobject Localisation for CAD -Based Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

12 Citations (Scopus)

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
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	https://doi.org/10.1117/12.403756
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

Keywords

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

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Sallinen, M., & Heikkilä, T. (2000). Flexible Workobject Localisation for CAD -Based Robotics. In Proceedings of SPIE Intelligent Robots and Computer Vision XIX: Algorithms, Techniques, and Active Vision (pp. 130-139). International Society for Optics and Photonics SPIE. https://doi.org/10.1117/12.403756

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title = "Flexible Workobject Localisation for CAD -Based Robotics",

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.",

keywords = "pose estimation, spatial uncertainty, Bayesian model, B-spline surface patch, hand-eye calibration",

author = "Mikko Sallinen and Tapio Heikkil{\"a}",

note = "Project code: A9SU00755; Intelligent Systems and Smart Manufacturing ; Conference date: 07-11-2000 Through 08-11-2000",

year = "2000",

doi = "10.1117/12.403756",

language = "English",

isbn = "0-8194-3862-6",

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Sallinen, M & Heikkilä, T 2000, Flexible Workobject Localisation for CAD -Based Robotics. in Proceedings of SPIE Intelligent Robots and Computer Vision XIX: Algorithms, Techniques, and Active Vision. International Society for Optics and Photonics SPIE, pp. 130-139, Intelligent Systems and Smart Manufacturing, Boston, United States, 7/11/00. https://doi.org/10.1117/12.403756

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

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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.

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M3 - Conference article in proceedings

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BT - Proceedings of SPIE Intelligent Robots and Computer Vision XIX

PB - International Society for Optics and Photonics SPIE

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