TY - GEN
T1 - Sensor calibration with unknown correspondence
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
AU - Ackerman, Martin Kendal
AU - Cheng, Alexis
AU - Shiffman, Bernard
AU - Boctor, Emad
AU - Chirikjian, Gregory
PY - 2013
Y1 - 2013
N2 - The AX = XB sensor calibration problem must often be solved in image guided therapy systems, such as those used in robotic surgical procedures. In this problem, A, X, and B are homogeneous transformations with A and B acquired from sensor measurements and X being the unknown. It has been known for decades that this problem is solvable for X when a set of exactly measured A's and B's, in a priori correspondence, is given. However, in practical problems, the data streams containing the A' and B's will be asynchronous and may contain gaps (i.e., the correspondence is unknown, or does not exist, for the sensor measurements) and temporal registration is required. For the AX = XB problem, an exact solution can be found when four independent invariant quantities exist between two pairs of A's and B's. We formally define these invariants, reviewing and elaborating results from classical screw theory. We then illustrate how they can be used, with sensor data from multiple sources that contain unknown or missing correspondences, to provide a solution for X.
AB - The AX = XB sensor calibration problem must often be solved in image guided therapy systems, such as those used in robotic surgical procedures. In this problem, A, X, and B are homogeneous transformations with A and B acquired from sensor measurements and X being the unknown. It has been known for decades that this problem is solvable for X when a set of exactly measured A's and B's, in a priori correspondence, is given. However, in practical problems, the data streams containing the A' and B's will be asynchronous and may contain gaps (i.e., the correspondence is unknown, or does not exist, for the sensor measurements) and temporal registration is required. For the AX = XB problem, an exact solution can be found when four independent invariant quantities exist between two pairs of A's and B's. We formally define these invariants, reviewing and elaborating results from classical screw theory. We then illustrate how they can be used, with sensor data from multiple sources that contain unknown or missing correspondences, to provide a solution for X.
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U2 - 10.1109/IROS.2013.6696518
DO - 10.1109/IROS.2013.6696518
M3 - Conference contribution
AN - SCOPUS:84893750560
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1308
EP - 1313
BT - IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -