Skip to main content
SpringerLink
Log in

Evaluation of Hand-Eye Calibration Algorithms in Application to Robotic Flexible Manufacturing Systems

  • Conference paper
  • First Online:
Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques (AUTOMATION 2021)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1390))

Included in the following conference series:

Abstract

The article is focused on two vital practical aspects related to robotic flexible manufacturing system which can be used for example in small craft factory to support the production of short series: the automatic visual system calibration with respect to the workspace and visual work-piece localization. The test procedure was performed in the system consisted of a collaborative robot UR-10, HD RGB camera and 8-cameras Optitrack motion capture system used as a reference. For calibration three hand-eye algorithms were investigated, where the best accuracy enabling to localize workspace coordinate system was achieved for dual-quaternions approach with the error below 0.4 mm in each direction. The work-piece localization was performed by means of \(40\times 40\) mm ArUco tag, the mean localization error was below 0.6mm in every dimension.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 129.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Zhang, Z.: A flexible new technique for camera calibration. IEEE Trans. Pattern Anal. Mach. Intell. 22(11), 1330–1334 (2000)

    Article  Google Scholar 

  2. Heikkila, J., Silven, O.: A four-step camera calibration procedure with implicit image correction. In: Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 1106–1112 (1997)

    Google Scholar 

  3. Bouguet, J.-Y.: Camera calibration toolbox for matlab. http://www.vision.caltech.edu/bouguetj/calib_doc/

  4. Reinke, A., Camurri, M., Semini, C.: A factor graph approach to multi-camera extrinsic calibration on legged robots. In: 2019 Third IEEE International Conference on Robotic Computing (IRC), pp. 391–394 (2019)

    Google Scholar 

  5. Kümmerle, R., Grisetti, G., Stachniss, C., Burgard, W.: Simultaneous parameter calibration, localization, and mapping for robust service robotics. In: Advanced Robotics and Its Social Impacts, pp. 76–79 (2011)

    Google Scholar 

  6. Gwak, S., Kim, J., Park, F.C.: Numerical optimization on the Euclidean group with applications to camera calibration. IEEE Trans. Robot. Autom. 19(1), 65–74 (2003)

    Article  Google Scholar 

  7. Kalibr. Calibration tools repository with example of multiple-camera calibration (2020). https://github.com/ethz-asl/kalibr

  8. Basalt. Calibration tools repository with example of optitrack-camera calibration (2020). https://gitlab.com/VladyslavUsenko/basalt/blob/master/doc/Calibration.md

  9. Spławski, M., Jarecki, F., Chudziński, J., Staszak, R., Kaczmarek, P., Drapikowski, P., Belter, D.: Motion planning of the cooperative robot with visual markers (2019)

    Google Scholar 

  10. Tsai, R.Y., Lenz, R.K., et al.: A new technique for fully autonomous and efficient 3D robotics hand/eye calibration. IEEE Trans. Robot. Autom. 5(3), 345–358 (1989)

    Article  Google Scholar 

  11. Daniilidis, K.: Hand-eye calibration using dual quaternions. Int. J. Robot. Res. 18(3), 286–298 (1999)

    Article  Google Scholar 

  12. Furrer, F., Fehr, M., Novkovic, T., Sommer, H., Gilitschenski, I., Siegwart, R.: Evaluation of combined time-offset estimation and hand-eye calibration on robotic datasets. Springer, Cham (2017). ISBN 978-3-319-67361-5

    Google Scholar 

  13. Jin, W., Sun, Y., Wang, M., Liu, M.: Hand-eye calibration: 4-D procrustes analysis approach. IEEE Trans. Instrum. Meas. 69(6), 2966–2981 (2019)

    Google Scholar 

  14. Koide, K., Menegatti, E.: General hand-eye calibration based on reprojection error minimization. IEEE Robot. Autom. Lett. 4(2), 1021–1028 (2019)

    Article  Google Scholar 

  15. Lagadic. ROS package that estimates the camera position with respect to its effector using the ViSP library. https://github.com/lagadic/vision_visp/tree/master/visp_hand2eye_calibration

  16. Pal robotics. Software package and ROS wrappers of the Aruco Augmented Reality marker detector library. https://github.com/pal-robotics/aruco_ros

  17. Abbas, S.M., Aslam, S., Berns, K., Muhammad, A.: Analysis and improvements in apriltag based state estimation. Sensors 19(24), 5480 (2019)

    Article  Google Scholar 

Download references

Acknowledgments

This work was supported by the European Regional Development Fund (ERDF) Wielkopolska Regional Operational Programme for 2014-2020, Measure 1.2.

Author information

Authors and Affiliations

  1. Institute of Control, Robotics and Information Engineering, Poznan University of Technology, Poznan, Poland

    Jakub Chudziński, Dominik Belter, Paweł Drapikowski & Piotr Kaczmarek

  2. A.S. Adrian Stern, Wilczak 45/47, 61-623, Poznan, Poland

    Jakub Chudziński, Dominik Belter, Filip Jarecki, Michał Spławski, Paweł Drapikowski & Piotr Kaczmarek

Authors
  1. Jakub Chudziński
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Dominik Belter
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Filip Jarecki
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Michał Spławski
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Paweł Drapikowski
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Piotr Kaczmarek
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jakub Chudziński .

Editor information

Editors and Affiliations

  1. ŁUKASIEWICZ Research Network, Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Roman Szewczyk

  2. ŁUKASIEWICZ Research Network, Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Cezary Zieliński

  3. ŁUKASIEWICZ Research Network, Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Małgorzata Kaliczyńska

Rights and permissions

Reprints and permissions

Copyright information

© 2021 The Author(s), under exclusive license to Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Chudziński, J., Belter, D., Jarecki, F., Spławski, M., Drapikowski, P., Kaczmarek, P. (2021). Evaluation of Hand-Eye Calibration Algorithms in Application to Robotic Flexible Manufacturing Systems. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques. AUTOMATION 2021. Advances in Intelligent Systems and Computing, vol 1390. Springer, Cham. https://doi.org/10.1007/978-3-030-74893-7_23

Download citation

Publish with us

Policies and ethics

Search

Navigation