Robotic TCF and rigid-body calibration methods

Robotic TCF and rigid-body calibration methods

Two Methods for Interpolating Rigid Body Motions

This paper investigates methods for computing a smooth motion that interpolates a given set of positions and orientations of a rigid body. To make the interpolation independent of the representation of the motion, we use the coordinate-free framework of differential geometry. Inertial and body-fixed reference frames must be chosen to describe the position and orientation of the rigid body. We s...

Robotic Calibration Issues: Accuracy, Repeatability and Calibration

The groundwork for a contact calibration methodology using a touch probe is developed for an articulated robot arm. This solution is framed within current calibration and metrology issues in robotics based upon the kinematical mechanical design of a serial link manipulator. Accuracy, repeatability, and resolution are explored and a simplistic approach is taken. This exercise is intended to lay ...

An accuracy assessment of different rigid body image registration methods and robotic couch positional corrections using a novel phantom.

PURPOSE Image guided radiotherapy (IGRT) using cone beam computed tomography (CBCT) images greatly reduces interfractional patient positional uncertainties. An understanding of uncertainties in the IGRT process itself is essential to ensure appropriate use of this technology. The purpose of this study was to develop a phantom capable of assessing the accuracy of IGRT hardware and software inclu...

Stereo Calibration from Rigid Motions

This paper describes a method to upgrade projective reconstruction to a ne and to metric reconstructions using rigid general or planar motions of a stereo rig. We make clear the algebraic relationships between projective reconstruction, the plane at in nity (a ne reconstruction), camera calibration, and metric reconstruction when a 3-D scene is observed with a moving stereo rig. Based on an in-...