Title :
Self-calibration of eye-hand system based on geometric method with perception net
Author :
Lee, Sukhan ; Ro, Sookwang
Author_Institution :
Dept. of EE-Syst. & Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
Abstract :
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
Keywords :
aerospace robotics; calibration; mobile robots; path planning; robot vision; self-adjusting systems; sensor fusion; uncertainty handling; JPL/NASA planetary rover; eye-hand system; geometric method; mobile robot; perception net; robot vision; self-calibration; sensor fusion; uncertainty handling; Computer science; Intelligent actuators; Intelligent robots; Intelligent sensors; NASA; Robot sensing systems; Sensor fusion; Sensor systems; System recovery; Uncertainty;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.772535
