Robot Hand-Eye Calibration Using Structure-from-Motion
| Autor: | Nicolas Andreff, Radu Horaud, Bernard Espiau |
|---|---|
| Rok vydání: | 2001 |
| Předmět: |
0209 industrial biotechnology
Engineering Robot calibration Calibration (statistics) ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION 02 engineering and technology Computer Science::Robotics 020901 industrial engineering & automation Artificial Intelligence 0202 electrical engineering electronic engineering information engineering Structure from motion Computer vision Electrical and Electronic Engineering Algebraic analysis Pose business.industry Applied Mathematics Mechanical Engineering Process (computing) Scale factor Modeling and Simulation Robot 020201 artificial intelligence & image processing Artificial intelligence business Software |
| Zdroj: | The International Journal of Robotics Research. 20:228-248 |
| ISSN: | 1741-3176 0278-3649 |
| DOI: | 10.1177/02783640122067372 |
| Popis: | In this paper, we propose a new flexible method for hand-eye 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. |
| Databáze: | OpenAIRE |
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