Reduction of spatial uncertainties as a criterion for sensing planning of hand-eye calibration

Mikko Sallinen; Tapio Heikkila

doi:10.1117/12.514921

30 September 2003 Reduction of spatial uncertainties as a criteria for sensing planning of hand-eye calibration

Mikko Sallinen, Tapio Heikkila

Proceedings Volume 5267, Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision; (2003) https://doi.org/10.1117/12.514921
Event: Photonics Technologies for Robotics, Automation, and Manufacturing, 2003, Providence, RI, United States

Abstract

In this paper, we present a method to generate a set of samples which decreases the uncertainties of the estimated parameters. The goal is to carry out hand-eye calibration, i.e. estimate the transformation from wrist of the robot to the coordinate origin of the sensor attached in the wrist of the robot. Using the presented method we decrease the spatial uncertainties and avoid cases where the set of samples are poor and estimator fails or gives an unreliable estimate for both parameters and related uncertainties. This is important especially in the noised conditions and the cases where only a sparse set of samples is available, e.g. hand-eye calibration with a singlepoint laser rangefinder tactile sensor. The planning method is compared with pattern and random sets of samples and results for the new method are promising.

Citation Download Citation

Mikko Sallinen and Tapio Heikkila "Reduction of spatial uncertainties as a criteria for sensing planning of hand-eye calibration", Proc. SPIE 5267, Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision, (30 September 2003); https://doi.org/10.1117/12.514921

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available