Robot 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 LTR project number VIGOR The unknown scale factor is then included in a linear formula tion parameterizing rotations with orthogonal matrices which han dles both large and small motions The algebraic analysis of the linear formulation determines whether calibration is partial or complete according to the motions nature Finally in depth experiments are conducted with comparison to other methods