Abstract-This paper presents a calibration method for eye-in-hand systems in order to estimate the hand-eye and the robot-world transformations. The estimation takes place in terms of a parametrization of a stochastic model. In order to perform optimally, a metric on the group of the rigid transformations SE(3) and the corresponding error model are proposed for nonlinear optimization. This novel metric works well with both common formulations AX=XB and AX=ZB, and makes use of them in accordance with the nature of the problem. The metric also adapts itself to the system precision characteristics. The method is compared in performance to earlier approaches.
Strobel and Hirzinger REF presented a novel metric on the group of rigid transformation (SE(3)) to optimally estimate the parameters of the system model.
Optimal Hand-Eye Calibration
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Computer Science