Multi-modal force/vision sensor fusion in 6-DOF pose tracking

Olli Alkkiomäki*, Ville Kyrki, Yong Liu, Heikki Handroos, Heikki Kälviäinen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

4 Citations (Scopus)


Sensor based robot control allows manipulation in dynamic and uncertain environments.Vision can be used to estimate 6-DOF pose of an object by model-based pose-estimation methods, but the estimate is not accurate in all degrees of freedom.Force offers a complementary sensor modality allowing accurate measurements of local object shape when the tooltip is in contact with the object.As force and vision are fundamentally different sensor modalities, they cannot be fused directly.We present a method which fuses force and visual measurements using positional information of the end-effector.By transforming the position of the tooltip and the camera to a same coordinate frame and modeling the uncertainties of the visual measurement, the sensors can be fused together in an Extended Kalman filter.Experimental results show greatly improved pose estimates when the sensor fusion is used.

Original languageEnglish
Title of host publication2009 International Conference on Advanced Robotics, ICAR 2009
Publication statusPublished - 2009
MoE publication typeA4 Article in a conference publication
Event International Conference on Advanced Robotics - Munich, Germany
Duration: 22 Jun 200926 Jun 2009


Conference International Conference on Advanced Robotics
Abbreviated titleICAR


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