A Comparative Review of Hand-Eye Calibration Techniques for Vision Guided Robots
Ikenna Enebuse,Mathias Foo,Babul Salam Ksm Kader Ibrahim,Hafiz Ahmed,Fhon Supmak,Odongo Steven Eyobu +5 more
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TLDR
A review of hand-eye calibration can be found in this paper, where a general overview of the strengths and weaknesses of different handeye calibration algorithms available to academics and industrial practitioners is presented.Abstract:
Hand-eye calibration enables proper perception of the environment in which a vision guided robot operates. Additionally, it enables the mapping of the scene in the robots frame. Proper hand-eye calibration is crucial when sub-millimetre perceptual accuracy is needed. For example, in robot assisted surgery, a poorly calibrated robot would cause damage to surrounding vital tissues and organs, endangering the life of a patient. A lot of research has gone into ways of accurately calibrating the hand-eye system of a robot with different levels of success, challenges, resource requirements and complexities. As such, academics and industrial practitioners are faced with the challenge of choosing which algorithm meets the implementation requirements based on the identified constraints. This review aims to give a general overview of the strengths and weaknesses of different hand-eye calibration algorithms available to academics and industrial practitioners to make an informed design decision, as well as incite possible areas of research based on the identified challenges. We also discuss different calibration targets, which is an important part of the calibration process that is often overlooked in the design process.read more
Citations
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LightBot: A Multi-Light Position Robotic Acquisition System for Adaptive Capturing of Cultural Heritage Surfaces
Ramamoorthy Luxman,Yuly Castro,Hermine Chatoux,Marvin Nurit,A. Siatou,Gaëtan Le Goïc,Laura Brambilla,Christian Degrigny,Franck Marzani,Alamin Mansouri +9 more
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Linear Laser Scanning Measurement Method Tracking by a Binocular Vision
TL;DR: In this paper , a linear laser scanning measurement method is proposed based on binocular vision calibration to reduce the errors caused by the laser probe working in complex paths with a fast speed and a simple and effective eight-point positioning marker attached to the scanner is proposed to complete the positioning and tracking procedure.
Journal ArticleDOI
A regularization-patching dual quaternion optimization method for solving the hand-eye calibration problem
TL;DR: A new dual quaternion optimization method based on the 2-norm of dualQuaternion vectors is proposed for the hand-eye calibration problem, which gives a complete description for the solution set of hand- Eye calibration problems.
Journal ArticleDOI
Hand-Eye Calibration of EOD Robot by Solving the AXB = YCZD Problem
TL;DR: A new method of simultaneously solving the unknowns in the matrix equation is proposed and consists of a closed-form method based on the Kronecker product and an iterative method that transforms a nonlinear problem with a convex function optimization problem.
Journal ArticleDOI
Hand-Eye Calibration of EOD Robot by Solving the AXB = YCZD Problem
TL;DR: In this article , a new method of simultaneously solving the unknowns in the matrix equation is proposed, which consists of a closed-form method based on the Kronecker product and an iterative method that transforms a nonlinear problem with a convex function optimization problem.
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