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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, Xuewei
作者部门其他
会议名称3rd IEEE Information Technology and Mechatronics Engineering Conference (ITOEC)
会议日期October 3-5, 2017
会议地点Chongqing, PEOPLES R CHINA
会议主办者IEEE, IEEE Beijing Sect, Global Union Acad Sci & Technol, Chongqing Global Union Acad Sci & Technol, Chongqing Geeks Educ Technol Co Ltd
会议录名称2017 IEEE 3RD INFORMATION TECHNOLOGY AND MECHATRONICS ENGINEERING CONFERENCE (ITOEC)
出版者IEEE
出版地New York
2017
页码618-621
收录类别EI ; CPCI(ISTP)
EI收录号20181104895424
WOS记录号WOS:000422907300125
产权排序1
ISBN号978-1-5090-5363-6
关键词Hand-eye Calibration Robust Estimation Error Distribution Estimation
摘要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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21532
专题其他
通讯作者Zhang Q(张强)
作者单位1.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
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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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