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
•Posted Content
Heterogeneous Multi-sensor Calibration based on Graph Optimization.
Hongyu Chen,Sören Schwertfeger +1 more
TL;DR: This work proposes a graph-based method to refine the relative poses of the different sensors, and demonstrates the approach using the mapping robot platform, which features twelve sensors that are to be calibrated.
14
Coordinate-invariant rigid-body interpolation on a parametric C 1 dual quaternion curve
TL;DR: The method to generate first-order continuous rigid-body motion by interpolation is novel in that the user can optionally prescribe key velocity data, too and parametric velocities are computed and incorporated into the interpolating function.
14
Propagation of Calibration Errors in Prospective Motion Correction Using External Tracking
TL;DR: In this study, it is investigated how errors in cross‐calibration affect the accuracy of motion correction feedback in MRI.
Reflections Over the Dual Ring—Applications to Kinematic Synthesis
Bruno Belzile,Jorge Angeles +1 more
TL;DR: In this paper, a dual version of recursive least squares is proposed for parameter identification in mechanical systems involving rigid bodies, whereby both rotation and translation occur; the former being dimensionless and the latter bearing units of length.
Virtual Trajectory Augmented Landing Control Based on Dual Quaternion for Lunar Lander
TL;DR: In this article, a new force-torque sequential control law is introduced to resolve the coupling effect of the translational dynamics and the rotational dynamics of the landing trajectory of the lander.
14
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.