A novel hand-eye semi-automatic calibration process for laser profilometers using machine learning

Tang, Yipeng; Luo, Wenxu; Wang, Qing; Li, Jinyang; Liu, Cheng; Li, Jiangxiong; Ke, Yinglin

doi:10.1016/j.measurement.2023.112936

Cited by 6 publications

(1 citation statement)

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“…The main principle of this method is based on the fact that a single spherical center is invariant in the robot base coordinate system and a two-step method is used to solve the hand-eye parameters, but the process of judging the missing one-dimensional coordinate symbols is prone to errors, which greatly affects the calibration accuracy. To address this problem, the missing one-dimensional coordinate symbols of the ball center are semi-automatically judged by generating a pose model [9], which reduces the invalid data in the data acquisition process. In terms of aspheric reference calibration, the linear edge fitting-based method is used for hand-eye calibration of line laser sensors [10], and the calibration target is a common reference with straight edge characteristics in life, such as straightedge, step, and so on.…”

Section: Introductionmentioning

confidence: 99%

Hand-eye calibration of line structured-light sensor based on double-sphere constraints

Ruan,

Deng,

Hao

et al. 2024

J. Phys.: Conf. Ser.

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Aiming at the complex problem of solving the positional relationship between the line laser sensor at the end of the robot wrist and the coordinate system of the end flange, a line laser hand-eye calibration method based on a double ball fixed target is proposed. Firstly, a double standard ball with known radius and center distance is used as a reference tool, and the point cloud data of a single contour line is collected several times, and the coordinates of the two ball centers under the camera coordinate system can be obtained according to the center coordinates of the circle obtained from the fitted circle combined with the Pythagoras theorem. Then, according to the principle that the two spherical centers are fixed under the robot base coordinate system, the rigid transformation matrix between the line laser sensor and the robot is successively solved. When solving the rotation matrix, the constraint of the distance between the spherical centers of the two balls is introduced to obtain a solution with better accuracy. Experimental results show that the method has better overall performance compared with the traditional single-ball hand-eye calibration method.

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Section: Introductionmentioning

confidence: 99%