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
Dexterous robotic manipulation: Batting and cutting
Xiaoqian Mu
- 29 Mar 2024
TL;DR: Dexterous robotic manipulation focuses on achieving human-like agility and dexterity in tasks like batting and cutting. Batting requires accurate, fast, and smooth robot movement as a human does. Cutting natural foods involves complex motions and requires the robot to imitate human-like cutting techniques.
6 DOF Robot Control with Object Detection Based on Deep Learning
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Novel Methods Inspired by Reinforcement Learning Actor-Critic Mechanism for Eye-in-Hand Calibration in Robotics
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TL;DR: Numerical and real-world experiments prove the feasibility of the proposed method to perform eye-in-hand camera calibration on the robot arm and show the potential of the reinforcement learning method to solve the camera calibration problem.
Shape-Env - Camera-enhanced robotic terrain-shaping for complex 3D concrete printing
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Automatic Multi-LiDAR Calibration and Refinement Method
Pengjin Wei,Guohang Yan,Yikang Li,kun fang,Wei Liu,Jie Yang +5 more
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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.