Journal Article10.1177/02783649922066213
Hand-Eye Calibration Using Dual Quaternions
TL;DR: This paper algebraically prove that if the authors consider the camera and motor transformations as screws, then only the line coefficients of the screw axes are relevant regarding the hand-eye calibration, and shows how a line transformation can be written with the dual-quaternion product.
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Abstract: To relate measurements made by a sensor mounted on a mechanical link to the robot’s coordinate frame, we must first estimate the transformation between these two frames. Many algorithms have been p...
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Citations
Dual Quaternion-Based Kinematic Modelling of Serial Manipulators
Mohsin Dalvi,Shital S. Chiddarwar,Saumya Ranjan Sahoo,M. R. Rahul +3 more
- 01 Jan 2021
TL;DR: In this article, a dual quaternion-based methodology for computing the forward and inverse kinematic models for a serial manipulator is presented, which includes Jacobian transpose and damped least squares methods for determining Jacobian pseudo-inverse.
1
Motion, Unit Dual Quaternion and Motion Optimization
Liqun Qi
- 22 Dec 2022
TL;DR: In this paper , the authors introduce motions as real six-dimensional vectors and formulate the hand-eye calibration problem and the simultaneous localization and mapping (SLAM) problem as motion optimization problems.
1
Closed-form solution to point- and plane-based co-registration of terrestrial LiDAR point clouds
TL;DR: A novel co-registration of terrestrial light detection and ranging point clouds solution to create globally consistent 3-D environments is presented and the proposed dual quaternions point- and plane-based optimization indicated that the mathematical optimization might represent a valid model for co-registration of point clouds.
1
A 3D Reconstruction System of Indoor Scenes with Rotating Platform
Feng Zhang,Limin Shi,Zhenhui Xu,Zhan-Yi Hu +3 more
- 20 Dec 2008
TL;DR: Experimental results show that this 3D reconstruction system for indoor scenes with a rotating platform is not only convenient and flexible, but it can also obtain satisfactory reconstruction accuracy.
Hand-Eye Calibration via Linear and Nonlinear Regressions
TL;DR: In this article , a method involving linear and nonlinear regressions is proposed to convert the object's position from the image coordinate system to the robot base coordinate system, which has better calibration performance with interpretability.
References
A new technique for fully autonomous and efficient 3D robotics hand/eye calibration
Roger Y. Tsai,R.K. Lenz +1 more
- 01 Jun 1989
TL;DR: In this article, the authors describe a technique for computing position and orientation of a camera relative to the last joint of a robot manipulator in an eye-on-hand configuration, which takes only about 100+64N arithmetic operations to compute the hand/eye relationship after the robot finishes the movement, and incurs only additional 64 arithmetic operations for each additional station.
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•Proceedings Article
A new technique for fully autonomous and efficient 3D robotics hand-eye calibration
Roger Y. Tsai,R.K. Lenz +1 more
- 01 May 1988
TL;DR: A novel technique for computing position and orientation of a camera relative to the last joint of a robot manipulator in an eye-on-hand configuration aimed at simplicity, efficiency, and accuracy while giving ample geometric and algebraic insights is described.
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Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB
Yiu Cheung Shiu,S. Ahmad +1 more
- 01 Feb 1989
TL;DR: Etalonnage d'un capteur monte sur le poignet d' un robot par resolutions des equations des transformations homogenes de la forme AX=XB.
Hand-eye calibration
Radu Horaud,Fadi Dornaika +1 more
TL;DR: A common mathematical framework is developed to solve for the hand-eye calibration problem using either of the two formulations and the nonlinear optimization method, which solves for rotation and translation simultaneously, seems to be the most robust one with respect to noise and measurement errors.