A Self-Calibration Approach to Hand-Eye Relation Using a Single Point

摘要：

This paper describes a self-calibration approach to hand-eye relation using a single point in the scene.Camera is required to observe one point in the scene at five (or more)pure translational motions and two (or more)pure rotational motions of manipulator.The motions of manipulator are accurately controlled and read,and the motions of camera are estimated from the disparity and the depth value of the point.Thus, constraint equations are set up between the manipulator and the camera coordination.The intrinsic parameters of camera and hand-eye relation are solved linearly.It is characteristic by conveniently controlling motions of manipulator and succinct implement of algorithm due to the utility of a single point in the scene,requiring neither matching,nor orthogonal motions. Results of experiments on computer-generated and real image data show that the proposed method is effective and feasible.

作者: Haixia Xu Yaonan Wang Wei Chen Juan Lu

作者单位: Room 414,School of Electrical and Information Engineering Hunan University Hunan Province,China

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 413-418

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）