Self-calibration of eye-hand system based on geometric method with perception net

A systematic method for reducing uncertainties and calibrating biases involved in sensing systems is presented. The method is based on representing a sensing system by a perception net and applying a geometric method for combining multiple data and constraints. The proposed method is applied to the...

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Bibliographic Details
Main Authors: Lee, Sukhan, Ro, Sookwang
Format: Conference Proceeding
Language:English
Subjects:
Computer science
Intelligent actuators
Intelligent robots
Intelligent sensors
NASA
Robot sensing systems
Sensor fusion
Sensor systems
System recovery
Uncertainty
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Summary:A systematic method for reducing uncertainties and calibrating biases involved in sensing systems is presented. The method is based on representing a sensing system by a perception net and applying a geometric method for combining multiple data and constraints. The proposed method is applied to the self-calibration of the eye-hand system equipped for a JPL/NASA planetary rover. Experimental results are shown.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1999.772535