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
Advanced Hybrid Tracking and Navigation for Computer-Assisted Interventions
Tobias Reichl
- 01 Jan 2013
TL;DR: This work presents several new concepts for advanced hybrid tracking systems: first, mathematical modelling of an instrument's flexible parts, amplified by computer vision methods; then, hybrid image-based and electromagnetic tracking with a a continuous output model; finally, a new tracking paradigm, by robotically keeping the EM tracking sensor always close to the centre of the tracking volume.
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SE(n)++: An Efficient Solution to Multiple Pose Estimation Problems.
TL;DR: A new technique called the SE( n)++ is proposed in this article that exploits a novel mapping from SE(n) to SO(n + 1), which transforms the coupling between rotation and translation into a unified formulation on the Lie group and gives better analytical results and computational performances.
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A comparison study of three screw theory based kinematic solution methods for the industrial robot manipulators
Emre Sariyildiz,Hakan Temeltas +1 more
- 15 Aug 2011
TL;DR: In this article, the authors compared three inverse kinematic formulation methods for industrial robot manipulators based on screw theory and found that screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates.
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Hand-eye calibration for 2D laser profile scanners using straight edges of common objects
01 Feb 2022
TL;DR: In this article , a method for calibrating a 2D profile laser scanner mounted on an industrial articulated robot is presented, where points extracted from the same edge, under various robot poses, are used to solve the calibration problem.
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Grasping objects localized from uncertain point cloud data
TL;DR: This work presents a grasp planning method that explicitly considers the uncertainties on the visually-estimated object pose, and shows that, for grasping, some ambiguities are less unfavorable so the distribution can be used to select robust grasps.
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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.