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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.
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