Stereo Camera Head-Eye Calibration Based on Minimum Variance Approach Using Surface Normal Vectors

Lee, Joongjae; Jeong, Mun-Ho

doi:10.3390/s18113706

Cited by 7 publications

(5 citation statements)

References 25 publications

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“…These uncertainties could originate from either robot TCP pose errors or camera pose errors. Many studies [19,22,31] suggest testing the robustness of the methods by inducing one type of noise at a time into the system and evaluating its performance based on the response. Unfortunately, these uncertainties are mostly co-existent and co-dependent in real-world cases.…”

Section: Performance Evaluation Using Datasetsmentioning

confidence: 99%

Methods for Simultaneous Robot-World-Hand–Eye Calibration: A Comparative Study

Ali

Suominen

Gotchev

et al. 2019

Sensors

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In this paper, we propose two novel methods for robot-world-hand–eye calibration and provide a comparative analysis against six state-of-the-art methods. We examine the calibration problem from two alternative geometrical interpretations, called 'hand–eye' and 'robot-world-hand–eye', respectively. The study analyses the effects of specifying the objective function as pose error or reprojection error minimization problem. We provide three real and three simulated datasets with rendered images as part of the study. In addition, we propose a robotic arm error modeling approach to be used along with the simulated datasets for generating a realistic response. The tests on simulated data are performed in both ideal cases and with pseudo-realistic robotic arm pose and visual noise. Our methods show significant improvement and robustness on many metrics in various scenarios compared to state-of-the-art methods.

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Section: Performance Evaluation Using Datasetsmentioning

confidence: 99%

Methods for Simultaneous Robot-World-Hand–Eye Calibration: A Comparative Study

Ali

Suominen

Gotchev

et al. 2019

Sensors

View full text Add to dashboard Cite

show abstract

“…These uncertainties could originate from either robot TCP pose errors or camera pose errors. Many studies [19,21,30] suggest testing the robustness of the methods by inducing one type of noise at a time into the system and evaluating its performance based on the response. Unfortunately, these uncertainties are mostly co-existent and co-dependent in real-world cases.…”

Section: Pseudo-real Noise Modelingmentioning

confidence: 99%

Methods for Simultaneous Robot-World Hand-Eye Calibration: A Comparative Study

Ali

Suominen

Gotchev

et al. 2019

Preprint

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In this paper, we propose two novel methods for robot-world/hand-eye calibration and provide a comparative analysis against six state-of-the-art methods. We examine the calibration problem from two alternative geometrical interpretations, called hand-eye and robot-world-hand-eye, respectively. The study analyses the effects of specifying the objective function as pose error or reprojection error minimization problem. We provide three real and three simulated datasets with rendered images as part of the study. In addition, we propose a robotic arm error modeling approach to be used along with the simulated datasets for generating a realistic response. The tests on simulated data are performed in both ideal cases and with pseudo-realistic robotic arm pose and visual noise. Our methods show significant improvement and robustness on many metrics in various scenarios compared to state-of-the-art methods.

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“…First, we achieve the cooperation signs' coordinate in the target's coordinate system, and then, we solve the pose from the target to the camera's coordinate system. [17][18][19][20][21][22][23][24][25][26] Horn et al 20 utilized the point cloud of the side surface, which achieved by a laser profile sensor to measure the pose of cylindrical components, but this method cannot work at high frequencies. Some researchers estimated camera's pose by the correspondence of lines or epipolar constraint.…”

Section: Introductionmentioning

confidence: 99%

“…Some researchers estimated camera's pose by the correspondence of lines or epipolar constraint. [21][22][23][24][25] Zhou et al 26 proposed a method to track and estimate the pose of known rigid objects efficiently in a complex environment, which based on a 3D particle filter with M-estimation optimization. The fourth method is to directly achieve the point cloud by a laser profile sensor and then use the point cloud to estimate the target's attitude.…”

Section: Introductionmentioning

confidence: 99%

High accuracy linear method for axis measurement

Zhong

Zhang

et al. 2020

Opt. Eng.

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The attitude parameter is an important state parameter for a long axisymmetric target.The plane intersection (PI) method is a commonly used method for attitude estimation. However, this method only uses planes' information in the object space under a multiple camera system (more than two cameras simultaneously observing a target). We propose two methods to address the aforementioned issue. One method involves minimizing the square of the object-space angle residual (OAR) and the other method involves minimizing the square of the image-space angle residual (IAR). The linear optimization method is used for the above minimizing problems. The simulation results demonstrate that the IAR method has higher accuracy than the PI and OAR methods under multiple and dual camera systems because it incorporates information of a pair of corresponding image points. Furthermore, our experiments have shown that the linear method is generally faster, and it has an equivalent accuracy compared to the iterative method. © The Authors. Published by SPIE under a Creative Commons Attribution 4.0 Unported License. Distribution or reproduction of this work in whole or in part requires full attribution of the original publication, including its DOI.

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Stereo Camera Head-Eye Calibration Based on Minimum Variance Approach Using Surface Normal Vectors

Cited by 7 publications

References 25 publications

Methods for Simultaneous Robot-World-Hand–Eye Calibration: A Comparative Study

Methods for Simultaneous Robot-World-Hand–Eye Calibration: A Comparative Study

Methods for Simultaneous Robot-World Hand-Eye Calibration: A Comparative Study

High accuracy linear method for axis measurement

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