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Effective self-calibration for camera parameters and hand-eye geometry based on two feature points motions
Sun J(孙佳)1,2; Wang P(王鹏)2; Tan ZK(覃政科)1,2; Qiao H(乔红)2
Source PublicationIEEE/CAA Journal of Automatica Sinica
2017-04-07
Volume4Issue:2Pages:370 - 380
AbstractA novel and effective self-calibration approach for robot vision is presented, which can effectively estimate both the camera intrinsic parameters and the hand-eye transformation at the same time. The proposed calibration procedure is based on two arbitrary feature points of the environment, and three pure translational motions and two rotational motions of robot endeffector are needed. New linear solution equations are deduced, and the calibration parameters are finally solved accurately and effectively. The proposed algorithm has been verified by simulated data with different noise and disturbance. Because of the need of fewer feature points and robot motions, the proposed method greatly improves the efficiency and practicality of the calibration procedure.
KeywordCamera Calibration Hand-eye Calibration Robot Vision Two Feature Points
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21167
Collection智能机器人系统研究
Affiliation1.中国科学院大学
2.中国科学院自动化研究所
Recommended Citation
GB/T 7714
Sun J,Wang P,Tan ZK,et al. Effective self-calibration for camera parameters and hand-eye geometry based on two feature points motions[J]. IEEE/CAA Journal of Automatica Sinica,2017,4(2):370 - 380.
APA Sun J,Wang P,Tan ZK,&Qiao H.(2017).Effective self-calibration for camera parameters and hand-eye geometry based on two feature points motions.IEEE/CAA Journal of Automatica Sinica,4(2),370 - 380.
MLA Sun J,et al."Effective self-calibration for camera parameters and hand-eye geometry based on two feature points motions".IEEE/CAA Journal of Automatica Sinica 4.2(2017):370 - 380.
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