| Autor: |
Ramakrishnan, Aditya, Garg, Chinmay, He, Haoyang, Gulvadi, Shravan Kumar, Keshavegowda, Sandeep |
| Rok vydání: |
2022 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| Popis: |
In this paper, a self-calibration approach for eye-in-hand robots using SLAM is considered. The goal is to calibrate the positioning of a robotic arm, with a camera mounted on the end-effector automatically using a SLAM-based method like Extended Kalman Filter (EKF). Given the camera intrinsic parameters and a set of feature markers in a work-space, the camera extrinsic parameters are approximated. An EKF based measurement model is deployed to effectively localize the camera and compute the camera to end-effector transformation. The proposed approach is tested on a UR5 manipulator with a depth-camera mounted on the end-effector to validate our results. |
| Databáze: |
arXiv |
| Externí odkaz: |
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