What is it about?
This paper aims to introduce a simple hand-eye calibration method that can be easily applied with different objective functions The performance of the calibration performed with the proposed method is compared with the reference methods in the literature. When the back-projection error is benchmarked, which corresponds to the point repeatability, the proposed approach is considered as the most successful method among all others. Due to its robustness, it is decided to make tooling-sensor calibrations by the recommended method, in the robotic non-destructive testing station in Ford-OTOSAN Kocaeli Plant Body Shop Department. The hand-eye calibration is solved by using the closed form absolute orientation equations. Instead of processing all samples together, the proposed method goes through all minimal solution sets. Final result is chosen after evaluating the solution set for arbitrary objectives. In this stage, outliers can be excluded optionally if more accuracy is desired.
Featured Image
Why is it important?
The proposed method is very flexible and gives more accurate and convenient results than the existing solutions. The mathematical error expression defined by the calibration equations may not be valid in practice, where especially systematic distortions are present. It is shown in the simulations that the solution which results the least mathematical error in systems may have incorrect, incompatible results in the presence of practical demands.
Perspectives
Read the Original
This page is a summary of: A solution to the hand-eye calibration in the manner of the absolute orientation problem, Industrial Robot the international journal of robotics research and application, January 2018, Emerald,
DOI: 10.1108/ir-08-2017-0152.
You can read the full text:
Contributors
The following have contributed to this page