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Publication Citation: An Overview of Robot-Sensor Calibration Methods for Evaluation of Perception Systems

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Author(s): Mili I. Shah; Roger D. Eastman; Tsai Hong Hong;
Title: An Overview of Robot-Sensor Calibration Methods for Evaluation of Perception Systems
Published: March 22, 2012
Abstract: In this paper, an overview of methods that solve the robot-sensor calibration problem of the forms AX = XB and AX = YB is given. Each form will be split into three solutions: separable closed-form solutions, simultaneous closed- form solutions, and iterative solutions. The advantages and disadvantages of each of the solutions in the case of evaluation of perception systems will also be discussed.
Proceedings: 2012 Performance Metrics for Intelligent Systems Workshop
Pages: 6 pp.
Location: College Park, MD
Dates: March 20-22, 2012
Keywords: Ground Truth; 6DOF Metrology; Laser Tracker; Fixtures
Research Areas: Perception, Calibrations, Manufacturing, Metrology
PDF version: PDF Document Click here to retrieve PDF version of paper (248KB)