Abstract
In this paper, we present a flexible hand-eye calibration method for a
range sensor attched to the TCP point of the robot. We also illustrate the
importance of the pose-dependent noise modelling by showing the behaviour of
the uncertainty estimates in the case of general pose (position and
orientation) noise model, general joint-based model and specific
pose-dependent noise model including pose-dependent joint and sensor
uncetainty values. The estimation is carried out using the Bayesian form
estimation and uncertainties are analysed from the error covariance matrices
of the estimated parameters.
| Original language | English |
|---|---|
| Title of host publication | Proceedings 2001 IEEE International Conference on Intelligent Engineering Systems |
| Pages | 313-318 |
| Publication status | Published - 2001 |
| MoE publication type | B3 Non-refereed article in conference proceedings |
| Event | IEEE International Conference on Intelligent Engineering Systems, INES 2001 - Helsinki, Finland Duration: 16 Sep 2001 → 18 Sep 2001 |
Conference
| Conference | IEEE International Conference on Intelligent Engineering Systems, INES 2001 |
|---|---|
| Country | Finland |
| City | Helsinki |
| Period | 16/09/01 → 18/09/01 |
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Cite this
Sallinen, M., & Heikkilä, T. (2001). Pose-dependent uncertainty modelling of the hand-eye calibration. In Proceedings 2001 IEEE International Conference on Intelligent Engineering Systems (pp. 313-318)