Finding the position and orientation of a sensor on a robot manipulator using quaternions
International Journal of Robotics Research
Eye-to-hand coordination for vision-guided robot control applications
International Journal of Robotics Research
International Journal of Robotics Research
Computer Vision and Image Understanding
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
A Four-step Camera Calibration Procedure with Implicit Image Correction
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Marker Tracking and HMD Calibration for a Video-Based Augmented Reality Conferencing System
IWAR '99 Proceedings of the 2nd IEEE and ACM International Workshop on Augmented Reality
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Hand to sensor calibration: A geometrical interpretation of the matrix equation AX=XB
Journal of Robotic Systems
Parameter-Free Radial Distortion Correction with Center of Distortion Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Data Selection for Hand-eye Calibration: A Vector Quantization Approach
International Journal of Robotics Research
On the issue of camera calibration with narrow angular field of view
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Markerless endoscopic registration and referencing
MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
A complete augmented reality guidance system for liver punctures: first clinical evaluation
MICCAI'05 Proceedings of the 8th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
An overview of robot-sensor calibration methods for evaluation of perception systems
Proceedings of the Workshop on Performance Metrics for Intelligent Systems
| Hi-index | 0.00 |
In this paper, we propose a new calibration method for a hand-eye system equipped with a camera undergoing radial distortion as a rigid endoscope. While classic methods propose either a separated estimation of the camera intrinsics and the hand-eye transform or a mixed non-linear estimation of both hand-eye and camera intrinsics assuming a pin-hole model, the proposed approach enables a simultaneous refinement of the hand-eye and the camera parameters including the distortion factor with only three frames of the calibrated pattern. We propose and compare two criteria to minimize: (i) the first one is based on the epipolar constraint between pairs of frames and (ii) the second one expresses the camera extrinsic with respect to hand-eye and world-grid transforms in the single frame reprojection error. We run bundle-adjustment on each criterion with respect to the distortion parameters, the camera intrinsics and the hand-eye transform. Our method allows us to recover more accurate 3D shapes when compared to state-of-the-art non-linear methods.