Solving the Robot - World / Hand - Eye Calibration Problem Using the Kronecker Product
نویسنده
چکیده
This paper constructs a separable closed-form solution to the robot-world/hand-eye calibration problem AX1⁄4YB. Qualifications and properties that determine the uniqueness of X and Y as well as error metrics that measure the accuracy of a given X and Y are given. The formulation of the solution involves the Kronecker product and the singular value decomposition. The method is compared with existing solutions on simulated data and real data. It is shown that the Kronecker method that is presented in this paper is a reliable and accurate method for solving the robot-world/hand-eye calibration problem. [DOI: 10.1115/1.4024473]
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Simultaneous robot-world and hand-eye calibration using dual-quaternions and Kronecker product
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