Effect of noise level for estimating the spatial uncertainties of workobject localization

Mikko Sallinen; Tapio A. Heikkila

doi:10.1117/12.469920

18 October 2002 Effect of noise level for estimating the spatial uncertainties of work object localization

Mikko Sallinen, Tapio A. Heikkila

Proceedings Volume 4902, Optomechatronic Systems III; (2002) https://doi.org/10.1117/12.469920
Event: Optomechatronic Systems III, 2002, Stuttgart, Germany

Abstract

In this paper, we present a method to estimate spatial uncertainties of a localized workobject using Bayesian estimation. We approch the problem of a sensor eye-in-hand calibration with error covariances by comparing the covariance propagation with Monte Carlo simulation and actual tests when the system noise level is changing. The spatial uncertainties are analysed using eigenvalues of the covariances in the direction of the respective eigenvectors. Results from the comparison between the different methods gives encouraging results and we believe that covariance propagation can be used in uncertainty estimation in different levels of noise.

Citation Download Citation

Mikko Sallinen and Tapio A. Heikkila "Effect of noise level for estimating the spatial uncertainties of work object localization", Proc. SPIE 4902, Optomechatronic Systems III, (18 October 2002); https://doi.org/10.1117/12.469920

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