Inverse kinematic solution for near-simple robots and its applications to robot calibration
Proceedings of the International Symposium on Robot Manipulators on Recent trends in robotics: modeling, control and education
A new development in camera calibration: calibrating a pair of mobile cameras
International Journal of Robotics Research
Automatic kinematic calibration using a motion tracking system
Proceedings of the 4th international symposium on Robotics Research
A new technique for fully autonomous and efficient 3D robotics hand-eye calibration
Proceedings of the 4th international symposium on Robotics Research
Mathematical Elements for Computer Graphics
Mathematical Elements for Computer Graphics
IEEE Transactions on Pattern Analysis and Machine Intelligence
Indirect camera calibration for surgery tracking
ISBI'09 Proceedings of the Sixth IEEE international conference on Symposium on Biomedical Imaging: From Nano to Macro
| Hi-index | 0.14 |
A new approach is described for geometric calibration of Cartesian robots. This is part of a set of procedures for real-time 3-D robotics eye, eye-to-hand, and hand calibration which uses a common setup and calibration object, common coordinate systems, matrices, vectors, symbols, and operations and is especially suited to machine vision systems. The robot makes a series of automatically planned movement with a camera rigidly mounted at the gripper. At the end of each move, it takes a total of 90 ms to grab an image, extract image feature coordinates, and perform camera-extrinsic calibration. After the robot finishes all the movements, it takes only a few milliseconds to do the calibration. The key of this technique is that only one rotary joint is moving for each movement. This allows the calibration parameters to be fully decoupled, and converts a multidimensional problem into a series of one-dimensional problems. Another key is that eye-to-hand transformation is not needed at all during the computation.