A New Method of Self-calibration of Hand-Eye Systems Based on Active Vision

This paper presents a new approach to self-calibration of the robotics hand-eye relations based on active vision systems. At the same time, the calibration of the line structured light sensor can be accomplished. According to the special designed motion of the camera, the whole calibration process can be divided into two steps, including two groups of four linearly independent translations and one pure rotation. This method requires no reference object and only needs two characteristic points in the scene. Besides, it can accomplish the self-calibration of the camera intrinsic parameters and the rotational matrix as a whole, which reduce the computation errors and cost. After verification by our experiments, the method is proved to be convenient and rapid with the precision required by the industrial fields with much fewer steps of calibration.