Error Distribution Estimation Based Weighted Least Square Estimation for Service Robot Hand-Eye Calibration
文献类型：会议论文
| 作者 | Jia K(贾凯); Zou FS(邹风山); Xu F(徐方); Zhang Q(张强); Wang, Xuewei; Zhang YA(张延安) |
| 出版日期 | 2017 |
| 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 |
| 关键词 | Hand-eye Calibration Robust Estimation Error Distribution Estimation |
| 页码 | 618-621 |
| 通讯作者 | Zhang Q(张强) |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 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 | 2017 IEEE 3RD INFORMATION TECHNOLOGY AND MECHATRONICS ENGINEERING CONFERENCE (ITOEC)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5090-5363-6 |
| WOS记录号 | WOS:000422907300125 |
| 源URL | [http://ir.sia.cn/handle/173321/21532]  |
| 专题 | 沈阳自动化研究所_其他 |
| 作者单位 | 1.University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing 100049, China 2.SIASUN Robot & Automation Co., LTD., NO.16 Jinhui Street, Hunnan New District, Shenyang 110168, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, No.114 Nanta Street, Shenhe District, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Jia K,Zou FS,Xu F,et al. Error Distribution Estimation Based Weighted Least Square Estimation for Service Robot Hand-Eye Calibration[C]. 见:3rd IEEE Information Technology and Mechatronics Engineering Conference (ITOEC). Chongqing, PEOPLES R CHINA. October 3-5, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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