Robot Hand-Eye Calibration Using Structure-from-Motion

Andreff, Nicolas; Horaud, Radu; Espiau, Bernard

doi:10.1177/02783640122067372

Cited by 155 publications

(98 citation statements)

References 33 publications

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“…implemented an alternative solution form used in robotics (Andreff et al, 2001) involving Kronecker products (Brewer, 1978) to solve the calibration parameters and the image scales, but an iterative minimization algorithm is still required.…”

Section: Point Phantom With a Stylusmentioning

confidence: 99%

Freehand 3D Ultrasound Calibration: A Review

Hsu

Prager

Gee

et al.

Advanced Imaging in Biology and Medicine

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Freehand three-dimensional ultrasound is a technique for acquiring ultrasonic data of a 3D volume by recording the trajectory of the ultrasound probe using a position sensor. In planning and registration, a freehand ultrasound systems is used to track a two-dimensional probe. Probe calibration is necessary to find the rigid body transformation from the coordinate system of the B-scan to that of the mobile part of the position sensor. Numerous techniques for this have been developed over the past decade. In this review, we give a comprehensive description of existing calibration techniques and classify them according to the mathematical principles on which they are based. We give a thorough analysis of these approaches based on their accuracy, ease of use, reliability, and speed of calibration. To ensure consistency, these comparisons are done by the authors based on experimental results and not on figures quoted in previous papers.

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Section: Point Phantom With a Stylusmentioning

confidence: 99%

Freehand 3D Ultrasound Calibration: A Review

Hsu

Prager

Gee

et al.

Advanced Imaging in Biology and Medicine

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“…For instance, Daniilidis (1998) solves equation (17) simultaneously using dual quaternions. Andreff et al (2001) uses the structure-from-motion algorithm to find the camera motion…”

Section: Fig 10 Hand-eye Calibrationmentioning

confidence: 99%

“…Andreff et al (2001) have developed one of such effective calibration methods. They allow for a mobile autonomic robot or robot space applications equipped with vision sensors to recalibrate themselves based on only the actual surrounding scene.…”

Section: Automated Calibrationmentioning

confidence: 99%

Vision Guided Robot Gripping Systems

Kowalczuk¹,

Węsierski²

2008

Automation and Robotics

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Description of the past and recent trends in robot positioning systemsIndustrial robots are used customary without any embedded sensors. They rely on a predictable pose of an object (position and orientation in 6 degrees of freedom, 6DOF) when performing the task of gripping parts located for instance on palettes or assembly lines. In practice though, a part can easily deviate from its ideal nominal location and a robot having no embedded sensors can miss or crash into the object. This would lead to damages and downtime of such an assembly line. Manual and automated part acquisitionManual part acquisition involves human employment. Clearly, it is not a good solution because humans are exposed to possible injuries, what increasing medical and social costs. Parts are often sharp and heavy. Yet, they are not sterile. Contamination (for instance, dust, oil, hair etc.) transferred to critical areas of the object leads to reduction in the quality of assembly (inevitably followed by product recalls). Conventionally, automated gripping relied on intricate mechanical and electromechanical devices known as precision fixtures, which were utilized to ensure that the part was always at the programmed pose with respect to the robot. The design of such fixtures is though expensive, imposes design constraints, requires frequent maintenance, and has a reduced flexibility. 2D and 3D robot positioningOver the years a variety of techniques have been developed to automate the process of gripping parts as an alternative to the existing manual part acquisition. Due to the rapidly evolving machine vision technology, vision sensors are playing today a key role in the threedimensional robot positioning systems. They are not only cheaper but also far more effective. A robot with an embedded vision sensor can have greater 'awareness' of the scene. It can grip objects, which can be non-fixtured, stacked or loosely located. Thus, it enables the robot to grip objects that are provided in racks, bins, or on pallets. Regardless of the presentation, a vision-guided robot can locate an object for further processing. This generic application of robotic guidance is applied in industries such as automotive for the location of power train components, sheet metal body parts, complete car bodies, and other parts used in assembly. Other industries such as food, pharmaceutical, glass and daily products apply vision guided robotic technology to their applications, as well.www.intechopen.com Automation and Robotics 42As a response to the industry needs two major techniques have emerged: 2D and 3D machine vision. Two-dimensional machine vision is a well-developed technique and has been successfully implemented in the past years. 2D robotic vision systems locate the object in 3 degrees of freedom (x, y, and roll angle) based on one image. Consequently, the main limitation of 2D vision is its inability to compute part's rotation outside of a single plane. Unfortunately, this does not suffice in many applications that aim to eliminate, for instance, the precis...

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“…Then the unique solution could be extracted from the null space using the unity constraint to the first 9 coefficients representing the R x . However, a better solution is described in [9] where the system is solved in two steps: first extract the rotation, and then solve for the translation and scale. The complete algebraic analysis for this problem (where the scale factor is assumed to be constant in three direction) is given in [9], where it is proved that two independent motions with non-parallel axes is sufficient to recover a unique solution for AX=XB.…”

Section: Mathematical Formulationmentioning

confidence: 99%

Immediate Ultrasound Calibration with Three Poses and Minimal Image Processing

Viswanathan

Boctor

Taylor

et al. 2004

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004

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Abstract. This paper introduces a novel method for ultrasound (US) probe calibration based on closed-form formulation and using minimal US imaging allowing for an immediate result. Prior to calibration, a position sensor is used to track each image in 3D space while the US image is used to determine target location within the image. The calibration procedure uses these two pieces of information to determine the transformation (translation, rotation, and scaling) of the scan plane with respect to the position sensor. We utilize a closed form solution from two motions of the US probe relying on optical digitization with a calibrated pointer to replace with a great extent the traditional segmentation of points/planes in US images. The tracked pointer appeared to introduce significantly less error than the resolution of the US image caused in earlier approaches. Our method also uses significantly fewer US images and requires only minimal image segmentation, or none with a special probe attachment.

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Robot Hand-Eye Calibration Using Structure-from-Motion

Cited by 155 publications

References 33 publications

Freehand 3D Ultrasound Calibration: A Review

Freehand 3D Ultrasound Calibration: A Review

Vision Guided Robot Gripping Systems

Immediate Ultrasound Calibration with Three Poses and Minimal Image Processing

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