.png){kind=icon}
.png){kind=icon}
Return
Robot hand-eye calibration using structure-from-motion
.png){kind=icon}
OA
AI
DOI：10.1177/02783640122067372.png)
.png){kind=icon}
.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
In this paper we propose a new flexible method for hand-rye calibration. The vast majority of existing hand-eye calibration techniques require a calibration rig that is used in conjunction with camera pose estimation methods. Instead, we combine structure from-motion with known robot motions and we show that the solution can be obtained in linear form. The latter solves for both the hand-eye parameters and the unknown scale factor inherent with structure-from-motion methods. The algebraic analysis that is made possible with such a linear formulation allows investigation of not only the well-known case of general screw motions but also of such singular motions as pure translations pure rotations, and planar motions. In essence, the robot-mounted camera looks to an unknown rigid layout, tracks points over an image sequence, and estimates the camera-to-robot relationship. Such a self-calibration process is relevant for unmanned vehicles, robots working in remote places, and so forth. We conduct a large number of experiments that validate the quality of the method by comparing it with existing ones.
Keywords:
self-calibration
structure-from-motion
Sylvester equation
AI Summary
Key information extracted from the uploaded paper, including a brief overview, abstract, background, key highlights, visual analysis, and future outlook.
Journal
IF:
5
Papers:
2.4K
Citations:
1.5W
Organization
No organization information available