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Error Distribution Estimation Based Weighted Least Square Estimation for Service Robot Hand-Eye Calibration
Xu F(徐方); Zhang Q(张强); Zou FS(邹风山); Jia K(贾凯); Zhang YA(张延安); Wang XW( 王学微)
Department其他
Conference Name3rd IEEE Information Technology and Mechatronics Engineering Conference (ITOEC)
Conference DateOctober 3-5, 2017
Conference PlaceChongqing, PEOPLES R CHINA
Author of SourceIEEE, IEEE Beijing Sect, Global Union Acad Sci & Technol, Chongqing Global Union Acad Sci & Technol, Chongqing Geeks Educ Technol Co Ltd
Source Publication2017 IEEE 3RD INFORMATION TECHNOLOGY AND MECHATRONICS ENGINEERING CONFERENCE (ITOEC)
PublisherIEEE
Publication PlaceNew York
2017
Pages618-621
Indexed ByEI ; CPCI(ISTP)
EI Accession number20181104895424
WOS IDWOS:000422907300125
Contribution Rank1
ISBN978-1-5090-5363-6
KeywordHand-eye Calibration Robust Estimation Error Distribution Estimation
Abstract

Accurate hand-eye calibration is a very significant task in robotics. Many algorithms focus on 2 L optimization, and Least Square Estimation (LSE) is usually employed to deal with this problem. For the reason that LSE can only be applied to occasions that errors obey normal distribution, LSE can lead to a lower precision of calibration result when gross errors occur. Different from the existing approaches, this paper introduces an error distribution estimation based weighted LSE for hand-eye calibration task. Firstly, transformation matrix is computed by traditional LSE. Error distribution is estimated on the basis of Gaussian kernel density estimation. Each data is weighted according to the density estimation and the fine result can be conducted by the weighted data. To evaluate the proposed method, an experiment was designed and the test result demonstrates the robustness of the proposed approach.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21532
Collection其他
Corresponding AuthorZhang Q(张强)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, No.114 Nanta Street, Shenhe District, Shenyang 110016, China
2.University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing 100049, China
3.SIASUN Robot & Automation Co., LTD., NO.16 Jinhui Street, Hunnan New District, Shenyang 110168, China
Recommended Citation
GB/T 7714
Xu F,Zhang Q,Zou FS,et al. Error Distribution Estimation Based Weighted Least Square Estimation for Service Robot Hand-Eye Calibration[C]//IEEE, IEEE Beijing Sect, Global Union Acad Sci & Technol, Chongqing Global Union Acad Sci & Technol, Chongqing Geeks Educ Technol Co Ltd. New York:IEEE,2017:618-621.
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