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Proceedings Paper

Reduction of spatial uncertainties as a criteria for sensing planning of hand-eye calibration
Author(s): Mikko Sallinen; Tapio Heikkila
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Paper 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.

Paper Details

Date Published: 30 September 2003
PDF: 12 pages
Proc. SPIE 5267, Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision, (30 September 2003); doi: 10.1117/12.514921
Show Author Affiliations
Mikko Sallinen, VTT Electronics (Finland)
Tapio Heikkila, Univ. of Oulu (Finland)

Published in SPIE Proceedings Vol. 5267:
Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Roning, Editor(s)

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