Hand-Eye Calibration With a Remote Centre of Motion
نویسندگان
چکیده
منابع مشابه
Calibration-Free Hand-Eye Calibration: A Structure-from-Motion Approach
The paper presents an extended hand-eye calibration approach that, in contrast to the standard method, does not require a calibration pattern for determining camera position and orientation. Instead, a structure-from-motion algorithm is applied for obtaining the eye-data that is necessary for computing the unknown hand-eye transformation. Different ways of extending the standard algorithm are p...
متن کاملHand-Eye Calibration
Whenever a sensor is mounted on a robot hand it is important to know the relation ship between the sensor and the hand The problem of determining this relationship is referred to as the hand eye calibration problem Hand eye calibration is important in at least two types of tasks i map sensor centered measurements into the robot workspace frame and ii allow the robot to precisely move the sensor...
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To maintain robot accuracy, calibration equipment is needed. In this paper we present a self-calibrating measuring system based on a camera in the robot hand plus a known reference object in the robot workspace. A collection of images of the reference object is obtained. From these we compute the positions and orientations of the camera, using image-processing, image-recognition and photogramme...
متن کاملHand - Eye Calibration 1
{ Whenever a sensor is mounted on a robot hand it is important to know the relationship between the sensor and the hand. The problem of determining this relationship is referred to as the hand-eye calibration problem. Hand-eye calibration is important in at least two types of tasks: (i) map sensor centered measurements into the robot workspace frame and (ii) allow the robot to precisely move th...
متن کاملRobot Hand-Eye Calibration Using Structure-from-Motion
The method we propose simpli es the practical procedure for hand eye calibration Indeed no more calibration jig is needed and small calibration motions can be used Without calibration jig camera motions are computed up to an unknown scale factor through structure from motion algorithms rather than pose estimation This work was supported by the European Community through the Esprit IV reactive L...
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ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2019
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2019.2924845