Finding the position and orientation of a sensor on a robot manipulator using quaternions
International Journal of Robotics Research
International Journal of Robotics Research
A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Hand to sensor calibration: A geometrical interpretation of the matrix equation AX=XB
Journal of Robotic Systems
An overview of robot-sensor calibration methods for evaluation of perception systems
Proceedings of the Workshop on Performance Metrics for Intelligent Systems
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A direct linear closed-form solution followed by Jacobian optimization is proposed to solve AX=XB for hand-eye calibration. The approach does not require A,B satisfying rigid transformation rather than the classic ones based on quaternion algebra or screw rule, so the technique is more flexible. Rigid deduction and demonstration are given based on matrix theory. Computer simulation and real data implementation indicate that: (1)In computation of initial value, our technique has good precision and robustness. (2) As more equations are added, initial value will converge to final value gradually, which shows it credible to regard initial value as final solution when many equations are supplied.