Eye in hand Calibration
نویسندگان
چکیده
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 photogrammetric techniques. The essential geometrical and optical camera parameters can be derived from the redundancy in the measurements. Experimental results for a prototype system are presented.
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