Hand-Eye Calibration Using Convex Optimization

摘要：

Hand-eye calibration is a very important task in robotics. Many algorithms have been proposed for it, but they almost apply the L2 optimization, which is usually in the form of nonlinear optimization. In this paper, we propose new handeye calibration algorithms using convex optimization, and it can be solved in the form of a global linear optimization without starting values. Experiments with both simulated and real data are performed to test our algorithms. The experimental results show the robustness and validity of our algorithms. Considering both the computing errors and the time consuming, our algorithm based on quaternions is a good option for real applications

作者: Zijian Zhao

作者单位: GMCAO group of the UJF-Grenoble 1/CNRS/TIMC-IMAG UMR 5525,Grenoble,F-38041,France

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2947-2952

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）