Solving the robot-world hand-eye(s) calibration problem with iterative methods

Solving the robot-world hand-eye(s) calibration problem with iterative methods Robot-world, hand-eye calibration is the problem of determining the transformation between the robot end-effector and a camera, as well as the transformation between the robot base and the world coordinate system. This relationship has been modeled as $${\mathbf {AX}}={\mathbf {ZB}}$$ AX = ZB , where $${\mathbf {X}}$$ X and $${\mathbf {Z}}$$ Z are unknown homogeneous transformation matrices. The successful execution of many robot manipulation tasks depends on determining these matrices accurately, and we are particularly interested in the use of calibration for use in vision tasks. In this work, we describe a collection of methods consisting of two cost function classes, three different parameterizations of rotation components, and separable versus simultaneous formulations. We explore the behavior of this collection of methods on real datasets and simulated datasets and compare to seven other state-of-the-art methods. Our collection of methods returns greater accuracy on many metrics as compared to the state-of-the-art. The collection of methods is extended to the problem of robot-world hand-multiple-eye calibration, and results are shown with two and three cameras mounted on the same robot. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Machine Vision and Applications Springer Journals

Solving the robot-world hand-eye(s) calibration problem with iterative methods

Loading next page...
 
/lp/springer_journal/solving-the-robot-world-hand-eye-s-calibration-problem-with-iterative-4aoVlg5e4Z
Publisher
Springer Berlin Heidelberg
Copyright
Copyright © 2017 by Springer-Verlag Berlin Heidelberg (outside the USA)
Subject
Computer Science; Pattern Recognition; Image Processing and Computer Vision; Communications Engineering, Networks
ISSN
0932-8092
eISSN
1432-1769
D.O.I.
10.1007/s00138-017-0841-7
Publisher site
See Article on Publisher Site

Abstract

Robot-world, hand-eye calibration is the problem of determining the transformation between the robot end-effector and a camera, as well as the transformation between the robot base and the world coordinate system. This relationship has been modeled as $${\mathbf {AX}}={\mathbf {ZB}}$$ AX = ZB , where $${\mathbf {X}}$$ X and $${\mathbf {Z}}$$ Z are unknown homogeneous transformation matrices. The successful execution of many robot manipulation tasks depends on determining these matrices accurately, and we are particularly interested in the use of calibration for use in vision tasks. In this work, we describe a collection of methods consisting of two cost function classes, three different parameterizations of rotation components, and separable versus simultaneous formulations. We explore the behavior of this collection of methods on real datasets and simulated datasets and compare to seven other state-of-the-art methods. Our collection of methods returns greater accuracy on many metrics as compared to the state-of-the-art. The collection of methods is extended to the problem of robot-world hand-multiple-eye calibration, and results are shown with two and three cameras mounted on the same robot.

Journal

Machine Vision and ApplicationsSpringer Journals

Published: May 2, 2017

References

You’re reading a free preview. Subscribe to read the entire article.


DeepDyve is your
personal research library

It’s your single place to instantly
discover and read the research
that matters to you.

Enjoy affordable access to
over 18 million articles from more than
15,000 peer-reviewed journals.

All for just $49/month

Explore the DeepDyve Library

Search

Query the DeepDyve database, plus search all of PubMed and Google Scholar seamlessly

Organize

Save any article or search result from DeepDyve, PubMed, and Google Scholar... all in one place.

Access

Get unlimited, online access to over 18 million full-text articles from more than 15,000 scientific journals.

Your journals are on DeepDyve

Read from thousands of the leading scholarly journals from SpringerNature, Elsevier, Wiley-Blackwell, Oxford University Press and more.

All the latest content is available, no embargo periods.

See the journals in your area

DeepDyve

Freelancer

DeepDyve

Pro

Price

FREE

$49/month
$360/year

Save searches from
Google Scholar,
PubMed

Create lists to
organize your research

Export lists, citations

Read DeepDyve articles

Abstract access only

Unlimited access to over
18 million full-text articles

Print

20 pages / month

PDF Discount

20% off