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Article Dans Une Revue The International Journal of Robotics Research Année : 2001

Robot Hand-Eye Calibration using Structure from Motion

Nicolas Andreff
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Bernard Espiau
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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.
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Dates et versions

hal-00520170 , version 1 (22-09-2010)

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  • HAL Id : hal-00520170 , version 1

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Nicolas Andreff, Radu Horaud, Bernard Espiau. Robot Hand-Eye Calibration using Structure from Motion. The International Journal of Robotics Research, 2001, 20 (3), pp.228--248. ⟨hal-00520170⟩
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