Hand to sensor calibration: A geometrical interpretation of the matrix equation AX=XB

Authors:
Irene Fassi;Giovanni Legnani
Affiliations:
ITIA-CNR, Viale Lombardia 20/A, 20131 Milano, Italy;Università di Brescia—Dip. Ing. Meccanica, Via Branze 38, 25123 Brescia, Italy
Venue:
Journal of Robotic Systems
Year:
2005

Citing 0
Cited 8

Adaptive motion selection for online hand–eye calibration

Robotica
Registration of surfaces minimizing error propagation for a one-shot multi-slit hand-held scanner

Pattern Recognition
Data Selection for Hand-eye Calibration: A Vector Quantization Approach

International Journal of Robotics Research
A flexible solution to AX=XB for robot hand-eye calibration

ROCOM'10 Proceedings of the 10th WSEAS international conference on Robotics, control and manufacturing technology
A direct linear solution with Jacobian optimization to AX=XB for hand-eye calibration

WSEAS Transactions on Systems and Control
A Paired-Orientation Alignment Problem in a Hybrid Tracking System for Computer Assisted Surgery

Journal of Intelligent and Robotic Systems
An overview of robot-sensor calibration methods for evaluation of perception systems

Proceedings of the Workshop on Performance Metrics for Intelligent Systems
Hand-eye calibration with epipolar constraints: Application to endoscopy

Robotics and Autonomous Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper, the matrix equation AX=XB used for hand to sensor calibration of robot-mounted sensors is analyzed using a geometrical approach. The analysis leads to an original way to describe the properties of the equation and to find all of its solutions. It will also be highlighted why, when multiple instances AiX=XBi (i=1,2,...) of the equation are to be solved simultaneously, the system is overconstrained. Finally, singular cases are also discussed. © 2005 Wiley Periodicals, Inc.