Extrinsic calibration of a robot mounted 3D imaging sensor

Authors:
Benedikt Kaiser;Ricardo A. Tauro;Heinz Worn
Affiliations:
University of Karlsruhe, Institute for Process Control and Robotics, Building 40.28, Kaiserstr. 12, D-76128 Karlsruhe, Germany.;University of Karlsruhe, Institute for Process Control and Robotics, Building 40.28, Kaiserstr. 12, D-76128 Karlsruhe, Germany.;University of Karlsruhe, Institute for Process Control and Robotics, Building 40.28, Kaiserstr. 12, D-76128 Karlsruhe, Germany
Venue:
International Journal of Intelligent Systems Technologies and Applications
Year:
2008

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Abstract

This paper proposes a technique for estimating the hand eye transformation for a robot mounted 3D imaging sensor. Since only the ground floor of the robot cell is used as calibration rig, our approach is convenient when the sensor has to be recalibrated repeatedly e.g. in experimental set-ups.