Flexible workobject localization for CAD-based robotics

Mikko Sallinen; Tapio A. Heikkila

doi:10.1117/12.403756

11 October 2000 Flexible workobject localization for CAD-based robotics

Mikko Sallinen, Tapio A. Heikkila

Proceedings Volume 4197, Intelligent Robots and Computer Vision XIX: Algorithms, Techniques, and Active Vision; (2000) https://doi.org/10.1117/12.403756
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

In this paper a method to locate work objects with splined surfaces and estimate the spatial uncertainties of the estimated parameters is presented. The reference B-spline surface patch is selected from a work object CAD-model and is defined in the form of control vertices. The process includes the hang-eye calibration of the sensor, determination of the work object localization and surface treating, e.g. inspection. The hand-eye calibration and work object localization are carried out using the Bayesian form estimation with sensor fusion. Use of the recursive sensor fusion method makes calibration more flexible and accurate in handling large data sets. The spatial uncertainties in the form of eigenvalues in the direction of the eigenvectors are analyzed from the error covariance matrices of the estimated parameters.

Citation Download Citation

Mikko Sallinen and Tapio A. Heikkila "Flexible workobject localization for CAD-based robotics", Proc. SPIE 4197, Intelligent Robots and Computer Vision XIX: Algorithms, Techniques, and Active Vision, (11 October 2000); https://doi.org/10.1117/12.403756

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