Abstract
Online implementation of robotic hand-eye calibration consists in determining the relative pose between the robot gripper/end-effector and the sensors mounted on it, as the robot makes unplanned movement. With noisy measurements, inevitable in real applications, the calibration is sensitive to small rotations. Moreover, degenerate cases such as pure translations are of no effect in hand-eye calibration. This paper proposes an algorithm of motion selection for hand-eye calibration. Using this method, not only can we avoid the degenerate cases, but also the small rotations to decrease the calibration error. Thus, the procedure lends itself to an online implementation of hand-eye calibration, where degenerate cases and small rotations frequently occur in the sampled motions. Simulation and real experiments validate our method.
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© 2005 Springer-Verlag Berlin Heidelberg
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Shi, F., Wang, J., Liu, Y. (2005). An Approach to Improve Online Hand-Eye Calibration. In: Marques, J.S., Pérez de la Blanca, N., Pina, P. (eds) Pattern Recognition and Image Analysis. IbPRIA 2005. Lecture Notes in Computer Science, vol 3522. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11492429_78
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DOI: https://doi.org/10.1007/11492429_78
Publisher Name: Springer, Berlin, Heidelberg
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