A Simultaneous Hand-Eye Calibration Method for Hybrid Eye-in-Hand/Eye-to-Hand System

被引：0

作者：

Ren, Shunan ^{[1
]}

Yang, Xu ^{[1
]}

Song, Yongbo ^{[1
]}

Qiao, Hong ^{[1
]}

Wu, Liao ^{[2
]}

Xu, Jing ^{[3
]}

Chen, Ken ^{[3
]}

机构：

[1] Chinese Acad Sci, Inst Automat, Beijing 100092, Peoples R China

[2] Queensland Univ Technol, Sch Elect Engn & Comp Sci, Australian Ctr Robot Vis, Brisbane, Qld, Australia

[3] Tsinghua Univ, Dept Mech & Engn, Beijing 100084, Peoples R China

来源：

2017 IEEE 7TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER) | 2017年

关键词：

Hand-eye calibration; Hybrid camera system; Hand-in-eye; Hand-to-eye; Simultaneous calibration method; SIMULTANEOUS ROBOT-WORLD; CAMERA CONFIGURATION; SENSOR CALIBRATION; TRACKING; AX=XB; AX; YB;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A hybrid system with both eye-in-hand and eye-to-hand configurations is often necessary for autonomous exploring equipment, such as ROVs. In order to localize objects accurately and grasp them rapidly, the relationships among the robot base, the end effector, the fixed cameras, and the cameras mounted on the end effector should be calibrated in advance. To achieve these goals, a fast calibration method is proposed in this paper, which could calibrate the hybrid camera system simultaneously. Then the feasibility and robustness of the proposed calibration method are verified by comparing it to the classical two-step method through simulations with different noise levels.

引用

页码：568 / 573

页数：6

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