Increasing optical pose estimation accuracy via freeform design and its application to hand-eye calibration

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OriginalspracheEnglisch
Seiten (von - bis)14368-14383
Seitenumfang16
FachzeitschriftOptics Express
Jahrgang30
Ausgabenummer9
PublikationsstatusVeröffentlicht - 14 Apr. 2022

Abstract

For robot-assisted assembly of complex optical systems, the alignment is facilitated
by an accurate pose estimation of its components. However, wavefront-based pose estimation is typically ill-conditioned due to the inherent geometry of conventional industrially manufactured optical components. Therefore, we propose a novel approach in this paper to increase wavefrontbased pose estimation accuracy via the design of freeformoptics. For this purpose, an optimization problem is derived that parameterizes the component’s surfaces by a predetermined freeform surface model. To show the efficacy of our approach, we provide simulation results to compare the pose estimation accuracy for a variety of optical designs. As an application example for the resulting improved pose estimation, a hand-eye calibration of a wavefront sensor is performed. This calibration originates from the field of robotics and represents the identification of a sensor coordinate system with respect to a global reference frame. For quantitative evaluation, the calibrating results are first presented with the aid of simulation data. Finally, the practical feasibility is demonstrated using a conventional industrial robot and additively manufactured freeform lenses.

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Increasing optical pose estimation accuracy via freeform design and its application to hand-eye calibration. / Melchert, Nils Frederik; Hinz, Lennart; Schindlbeck, Christopher Alexander et al.
in: Optics Express, Jahrgang 30, Nr. 9, 14.04.2022, S. 14368-14383.

Publikation: Beitrag in FachzeitschriftArtikelForschungPeer-Review

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abstract = "For robot-assisted assembly of complex optical systems, the alignment is facilitatedby an accurate pose estimation of its components. However, wavefront-based pose estimation is typically ill-conditioned due to the inherent geometry of conventional industrially manufactured optical components. Therefore, we propose a novel approach in this paper to increase wavefrontbased pose estimation accuracy via the design of freeformoptics. For this purpose, an optimization problem is derived that parameterizes the component{\textquoteright}s surfaces by a predetermined freeform surface model. To show the efficacy of our approach, we provide simulation results to compare the pose estimation accuracy for a variety of optical designs. As an application example for the resulting improved pose estimation, a hand-eye calibration of a wavefront sensor is performed. This calibration originates from the field of robotics and represents the identification of a sensor coordinate system with respect to a global reference frame. For quantitative evaluation, the calibrating results are first presented with the aid of simulation data. Finally, the practical feasibility is demonstrated using a conventional industrial robot and additively manufactured freeform lenses.",
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AU - Hinz, Lennart

AU - Schindlbeck, Christopher Alexander

AU - Reithmeier, Eduard

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