Robot Hand-Eye Calibration using Structure from Motion

Nicolas Andreff 1, * Radu Horaud 2 Bernard Espiau 1
* Corresponding author
1 BIP - Biped Robot
Inria Grenoble - Rhône-Alpes
2 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : The method we propose simpli es the practical procedure for hand- eye calibration. Indeed, no more calibration jig is needed and small calibration motions can be used. Without calibration jig, camera motions are computed, up to an unknown scale factor, through structure-from-motion algorithms rather than pose estimation. The unknown scale factor is then included in a linear formula- tion, parameterizing rotations with orthogonal matrices, which han- dles both large and small motions. The algebraic analysis of the linear formulation determines whether calibration is partial or complete according to the motions nature. Finally, in-depth experiments are conducted, with comparison to other methods.
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Nicolas Andreff, Radu Horaud, Bernard Espiau. Robot Hand-Eye Calibration using Structure from Motion. International Journal of Robotics Research, SAGE Publications, 2001, 20 (3), pp.228--248. ⟨hal-00520170⟩

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