Details
| Original language | English |
|---|---|
| Pages (from-to) | 14368-14383 |
| Number of pages | 16 |
| Journal | Optics Express |
| Volume | 30 |
| Issue number | 9 |
| Publication status | Published - 14 Apr 2022 |
Abstract
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.
ASJC Scopus subject areas
- Physics and Astronomy(all)
- Atomic and Molecular Physics, and Optics
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In: Optics Express, Vol. 30, No. 9, 14.04.2022, p. 14368-14383.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Increasing optical pose estimation accuracy via freeform design and its application to hand-eye calibration
AU - Melchert, Nils Frederik
AU - Hinz, Lennart
AU - Schindlbeck, Christopher Alexander
AU - Reithmeier, Eduard
N1 - Funding Information: The authors would like to thank Zimo Yang for his valuable contribution to this work.
PY - 2022/4/14
Y1 - 2022/4/14
N2 - 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’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.
AB - 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’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.
UR - http://www.scopus.com/inward/record.url?scp=85128475321&partnerID=8YFLogxK
U2 - 10.1364/OE.455188
DO - 10.1364/OE.455188
M3 - Article
VL - 30
SP - 14368
EP - 14383
JO - Optics Express
JF - Optics Express
SN - 1094-4087
IS - 9
ER -