Pose-dependent uncertainty modelling of the hand-eye calibration

Mikko Sallinen, Tapio Heikkilä

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientific

    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 languageEnglish
    Title of host publicationProceedings 2001 IEEE International Conference on Intelligent Engineering Systems
    Pages313-318
    Publication statusPublished - 2001
    MoE publication typeB3 Non-refereed article in conference proceedings
    EventIEEE International Conference on Intelligent Engineering Systems, INES 2001 - Helsinki, Finland
    Duration: 16 Sep 200118 Sep 2001

    Conference

    ConferenceIEEE International Conference on Intelligent Engineering Systems, INES 2001
    CountryFinland
    CityHelsinki
    Period16/09/0118/09/01

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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)