Pose-dependent uncertainty modelling of the hand-eye calibration

Mikko Sallinen; Tapio Heikkilä

Pose-dependent uncertainty modelling of the hand-eye calibration

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

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

@inproceedings{ec1074b07c9e4778932935146cfa5f22,

title = "Pose-dependent uncertainty modelling of the hand-eye calibration",

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.",

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

note = "Project code: A9SU00755; IEEE International Conference on Intelligent Engineering Systems, INES 2001 ; Conference date: 16-09-2001 Through 18-09-2001",

year = "2001",

language = "English",

isbn = "952-15-0689-X",

pages = "313--318",

booktitle = "Proceedings 2001 IEEE International Conference on Intelligent Engineering Systems",

}

TY - GEN

T1 - Pose-dependent uncertainty modelling of the hand-eye calibration

AU - Sallinen, Mikko

AU - Heikkilä, Tapio

N1 - Project code: A9SU00755

PY - 2001

Y1 - 2001

N2 - 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.

AB - 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.

M3 - Conference article in proceedings

SN - 952-15-0689-X

SP - 313

EP - 318

BT - Proceedings 2001 IEEE International Conference on Intelligent Engineering Systems

T2 - IEEE International Conference on Intelligent Engineering Systems, INES 2001

Y2 - 16 September 2001 through 18 September 2001

ER -