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
Inverse kinematic analysis of the general 6R serial manipulators based on unit dual quaternion and Dixon resultant
Zhao Zhiyong,Tao Wang,Dongqing Wang +2 more
- 01 Oct 2017
TL;DR: In this paper, the inverse kinematic problem of the general 6R serial robot via unit dual quaternion and Dixon resultant was addressed, and all roots were obtained by a series of solving processes.
9
Performance of Constraint Based Pose Estimation Algorithms
Bodo Rosenhahn,Yiwen Zhang,Gerald Sommer +2 more
- 13 Sep 2000
TL;DR: The paper concerns the performance of 2D-3D pose estimation algorithm in the algebraic language of kinematics and the development of special extended Kalman filters is proposed.
9
Robot-world and hand–eye calibration based on quaternion: A new method and an extension of classic methods, with their comparisons
TL;DR: In this article , a dual equations model using adjoint transformation was derived which converted the transformation of rigid body motion into a line transformation, and two translation closed-form solutions with different propagation error paths were given respectively.
9
Precise hand–eye calibration method based on spatial distance and epipolar constraints
TL;DR: The proposed method introduces 3D constraints into the iterative optimization of X and takes 3D error as an evaluation indicator of the calibration quality, showing higher accuracy and stronger robustness than conventional methods.
9
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.