Robot Hand-Eye Calibration using Structure from Motion
Résumé
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.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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