Hand-eye and radial distortion calibration for rigid endoscopes

Malti, Abed; Barreto, João Pedro

doi:10.1002/rcs.1478

Cited by 18 publications

(14 citation statements)

References 29 publications

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“…The extended unified methods thus include both hand-eye and camera parameters [44] (e.g. camera pose, intrinsic parameters and lens distortion [45,46]) which are simultaneously estimated. The optimization process for solving Eq.…”

Section: Background and Work Related To Hand-eye Calibrationmentioning

confidence: 99%

“…Branch-and-bound algorithms have recently been introduced to estimate camera poses with a ∞ L -norm formulation [48] and with a hypothesis that assumes all the translations are equal to zero. For extended methods with several parameters [45], the bundle adjustment technique is the most promising approach to retrieve all parameters simultaneously.…”

Section: Background and Work Related To Hand-eye Calibrationmentioning

confidence: 99%

See 1 more Smart Citation

Automated thermal 3D reconstruction based on a robot equipped with uncalibrated infrared stereovision cameras

Sentenac

Bugarin

Ducarouge

et al. 2018

Advanced Engineering Informatics

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In many industrial sectors, Non Destructive Testing (NDT) methods are used for the thermomechanical analysis of parts in assemblies of engines or reactors or for the control of metal forming processes. This article suggests an automated multi-view approach for the thermal D 3 reconstruction required in order to compute D 3 surface temperature models. This approach is based only on infrared cameras mounted on a Cartesian robot. The low resolution of these cameras associated to a lack of texture to infrared images require to use a global approach based first on an uncalibrated rectification and then on the simultaneous execution, in a single step, of the dense D 3 reconstruction and of an extended self-calibration. The uncalibrated rectification is based on an optimization process under constraints which calculates the homographies without prior calculation of the Fundamental Matrix and which minimizes the projective deformations between the initial images and the rectified ones. The extended self-calibration estimates both the parameters of virtual cameras that could provide the rectified images directly, and the parameters of the robot. It is based on two criteria evaluated according to the noise level of the infrared images. This global approach is validated through the reconstruction of a hot object against a reference reconstruction acquired by a D 3 scanner.

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Section: Background and Work Related To Hand-eye Calibrationmentioning

confidence: 99%

Section: Background and Work Related To Hand-eye Calibrationmentioning

confidence: 99%

Automated thermal 3D reconstruction based on a robot equipped with uncalibrated infrared stereovision cameras

Sentenac

Bugarin

Ducarouge

et al. 2018

Advanced Engineering Informatics

View full text Add to dashboard Cite

show abstract

“…Different techniques were proposed to solve the classic AX =XB problem. Depending on the outcome, the proposed techniques can be divided into: separable [1,2], simultaneous [3] or iterative [4][5][6]. Any method used to solve the sensor calibration problem presents its own advantages and disadvantages [7].…”

Section: Introductionmentioning

confidence: 99%

Orthogonal dual tensor method for solving the A X = X B sensor calibration problem

Condurache

Burlacu²

2016

Mechanism and Machine Theory

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“…The cost functions that explicitly models a stereo camera can be posteriorly refined along with camera parameters after an initial calibration with a monocular hand–eye algorithm. 15 , 17 Alernatively, the problem can be formulated in a simpler form by obtaining only a pure rotation motions. 14 This is not suitable for surgical robotics where the workspace is strictly limited and is often incompatible with significant pure rotation motions.…”

Section: Introductionmentioning

confidence: 99%

Adjoint Transformation Algorithm for Hand–Eye Calibration with Applications in Robotic Assisted Surgery

et al. 2018

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Hand–eye calibration aims at determining the unknown rigid transformation between the coordinate systems of a robot arm and a camera. Existing hand–eye algorithms using closed-form solutions followed by iterative non-linear refinement provide accurate calibration results within a broad range of robotic applications. However, in the context of surgical robotics hand–eye calibration is still a challenging problem due to the required accuracy within the millimetre range, coupled with a large displacement between endoscopic cameras and the robot end-effector. This paper presents a new method for hand–eye calibration based on the adjoint transformation of twist motions that solves the problem iteratively through alternating estimations of rotation and translation. We show that this approach converges to a solution with a higher accuracy than closed form initializations within a broad range of synthetic and real experiments. We also propose a stereo hand–eye formulation that can be used in the context of both our proposed method and previous state-of-the-art closed form solutions. Experiments with real data are conducted with a stereo laparoscope, the KUKA robot arm manipulator, and the da Vinci surgical robot, showing that both our new alternating solution and the explicit representation of stereo camera hand–eye relations contribute to a higher calibration accuracy.

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Hand-eye and radial distortion calibration for rigid endoscopes

Abstract: Our experimental results show the effectiveness of simultaneously estimating hand-eye and distortion parameters for 3D reconstruction.

Cited by 18 publications

References 29 publications

Automated thermal 3D reconstruction based on a robot equipped with uncalibrated infrared stereovision cameras

Automated thermal 3D reconstruction based on a robot equipped with uncalibrated infrared stereovision cameras

Orthogonal dual tensor method for solving the A X = X B sensor calibration problem

Adjoint Transformation Algorithm for Hand–Eye Calibration with Applications in Robotic Assisted Surgery

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