TY - GEN
T1 - A Simultaneous Hand-Eye Calibration Method for Hybrid Eye-in-Hand/Eye-to-Hand System
AU - Ren, Shunan
AU - Yang, Xu
AU - Song, Yongbo
AU - Qiao, Hong
AU - Wu, Liao
AU - Xu, Jing
AU - Chen, Ken
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2018/8/24
Y1 - 2018/8/24
N2 - A hybrid system with both eye-in-hand and eye-to-hand configurations is often necessary for autonomous exploring equipment, such as ROVs. In order to localize objects accurately and grasp them rapidly, the relationships among the robot base, the end effector, the fixed cameras, and the cameras mounted on the end effector should be calibrated in advance. To achieve these goals, a fast calibration method is proposed in this paper, which could calibrate the hybrid camera system simultaneously. Then the feasibility and robustness of the proposed calibration method are verified by comparing it to the classical two-step method through simulations with different noise levels.
AB - A hybrid system with both eye-in-hand and eye-to-hand configurations is often necessary for autonomous exploring equipment, such as ROVs. In order to localize objects accurately and grasp them rapidly, the relationships among the robot base, the end effector, the fixed cameras, and the cameras mounted on the end effector should be calibrated in advance. To achieve these goals, a fast calibration method is proposed in this paper, which could calibrate the hybrid camera system simultaneously. Then the feasibility and robustness of the proposed calibration method are verified by comparing it to the classical two-step method through simulations with different noise levels.
KW - Hand-eye calibration
KW - Hand-in-eye
KW - Hand-to-eye
KW - Hybrid camera system
KW - Simultaneous calibration method
UR - https://www.scopus.com/pages/publications/85053835998
U2 - 10.1109/CYBER.2017.8446185
DO - 10.1109/CYBER.2017.8446185
M3 - 会议稿件
AN - SCOPUS:85053835998
SN - 9781538604892
T3 - 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
SP - 568
EP - 573
BT - 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Y2 - 31 July 2017 through 4 August 2017
ER -