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
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Static multi-camera factorization using rigid motion
Roland Angst,Marc Pollefeys +1 more
- 01 Sep 2009
TL;DR: An approach to calibrate a static camera network where no correspondences between different camera views are required and this solution can be used as an initial guess for iterative optimization schemes which make use of the strong algebraic structure contained in the data.
A Novel Dual-robot Accurate Calibration Method Using Convex Optimization and Lie Derivative
Cheng Jiang,Wen-long Li,Wen-pan Li,Dong-fang Wang,Li-jun Zhu,Wei Xu,Huan Zhao,Han Ding +7 more
TL;DR: A novel dual-robot accurate calibration method that uses convex optimization and Lie derivative to solve the dual-robot calibration problem simultaneously and outperforms the previous calibration methods in terms of accuracy and stability is proposed.
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Hand-Eye calibration without hand orientation measurement using minimal solution
Zuzana Kukelova,Jan Heller,Tomas Pajdla +2 more
- 05 Nov 2012
TL;DR: This paper solves the problem of estimating the relative pose between a robot's gripper and a camera mounted rigidly on the grippers in situations where the rotation of the gripper w.r.t. the robot global coordinate system is not known and describes a method for selecting the geometrically correct solution among the algebraically correct ones computed by the solver.
Online Extrinsic Calibration based on Per-Sensor Ego-Motion Using Dual Quaternions
TL;DR: In this paper, the authors propose an approach for extrinsic sensor calibration from per-sensor ego-motion estimates based on dual quaternions, enabling two different online capable solving approaches.
16
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.
900
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.