SmartView: Hand-Eye Robotic Calibration for Active Viewpoint Generation and Object Grasping

Viewpoint calibration is a method to manipulate hand-eye for generating calibration parameters for active viewpoint control and object grasping. In robot vision applications, accurate vision sensor calibration and robust vision-based robot motion control are essential for developing an intelligent and autonomous robotic system. This paper presents a new approach to hand-eye robotic calibration for vision-based object modeling and grasping. Our method provides a 1.0pixel level of image registration accuracy when a standard Puma robot generates an arbitrary viewpoint. In order to attain this accuracy, our new formalism of hand-eye calibration deals with a lens distortion model of a vision sensor and utilizes a new parameter estimation algorithm using an extended Kalman lter. We demonstrate the power of this new method called \SmartView" for (1) generating 3D object models using an interactive 3D modeling editor, (2) recognizing 3D objects using stereo vision systems, and (3) grasping 3D objects using a manipulator. Experimental results using a Puma robot are shown.