Journal Article10.1016/J.ROBOT.2021.103868
Precise hand–eye calibration method based on spatial distance and epipolar constraints
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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.
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About: This article is published in Robotics and Autonomous Systems. The article was published on 01 Nov 2021. The article focuses on the topics: Epipolar geometry & Robot end effector.
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Citations
Marker Displacement Method Used in Vision-Based Tactile Sensors—From 2D to 3D-A Review
01 Jan 2023
TL;DR: The marker displacement method (MDM) is the most common method used in such sensors for representing and extracting contact information as mentioned in this paper , which uses the position field and displacement field of a marker array to characterize the original tactile information, and further achieves multimodal tactile perception.
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Marker Displacement Method Used in Vision-Based Tactile Sensors—From 2-D to 3-D: A Review
Mingxuan Li,Yao Jiang +1 more
TL;DR: In this paper , the marker displacement method (MDM) is the most common method used in tactile sensors for representing and extracting contact information, which uses the position field and displacement field of a marker array to characterize the original tactile information.
20
Toward Simultaneous Coordinate Calibrations of AX=YB Problem by the LMI-SDP Optimization
TL;DR: In this article , the authors proposed a generic calibration methodology for solving the linear form of the calibration equation by means of the Kronecker product, and formulated as an optimization problem involving the unknown variable matrices.
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Simultaneous calibration of hand-eye and kinematics for industrial robot using line-structured light sensor
TL;DR: A simultaneous calibration method for industrial robots' hand-eye relationship and kinematics is proposed, using a line-structured light sensor, achieving improved accuracy by reducing average distance error from 3.967 mm to 1.001 mm.
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Marker Displacement Method Used in Vision-Based Tactile Sensors—From 2D to 3D: A Review
23 Feb 2023
TL;DR: A detailed review and categorization of the marker displacement method (MDM) used in vision-based tactile sensors is presented in this article , where the authors compare the principles, characteristics, advantages and disadvantages of the three ways in detail.
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A flexible new technique for camera calibration
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A new technique for fully autonomous and efficient 3D robotics hand/eye calibration
Roger Y. Tsai,R.K. Lenz +1 more
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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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Determining the Epipolar Geometry and its Uncertainty: A Review
TL;DR: A complete review of the current techniques for estimating the fundamental matrix and its uncertainty is provided, and a well-founded measure is proposed to compare these techniques.
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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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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.