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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)
2017
Conference Name2017 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
Conference Date2017.7.31-2017.8.4
Conference PlaceHawaii, USA
AbstractA 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.
KeywordHand-eye Calibration Hybrid Camera System Hand-in-eye Hand-to-eye Simultaneous Calibration Method
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/19714
Collection类脑智能研究中心
Affiliation中国科学院自动化研究所
Recommended Citation
GB/T 7714
Ren SN,Yang X,Qiao H. A Simultaneous Hand-Eye Calibration Method for Hybrid Eye-in-Hand/Eye-to-Hand System[C],2017.
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