|A Simultaneous Hand-Eye Calibration Method for Hybrid Eye-in-Hand/Eye-to-Hand System|
|Ren SN(任书楠); Yang X(杨旭); Qiao H(乔红)
|会议名称||2017 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
|摘要||A hybrid system with both eye-in-hand and eye-tohand 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.|
Hybrid Camera System
Simultaneous Calibration Method
Ren SN,Yang X,Qiao H. A Simultaneous Hand-Eye Calibration Method for Hybrid Eye-in-Hand/Eye-to-Hand System[C],2017.