A Simultaneous Hand-Eye Calibration Method for Hybrid Eye-in-Hand/Eye-to-Hand System

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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
会议名称	2017 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期	2017.7.31-2017.8.4
会议地点	Hawaii, USA
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.
关键词	Hand-eye Calibration Hybrid Camera System Hand-in-eye Hand-to-eye Simultaneous Calibration Method
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/19714
专题	类脑智能研究中心
作者单位	中国科学院自动化研究所
推荐引用方式 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.