A fast hand-eye calibration method

Hua Luo; Ke Zhang; Junyun Shang; Lili Zhang; Na Yang; Jing Guo

doi:10.1117/12.2659583

22 November 2022 A fast hand-eye calibration method

Hua Luo, Ke Zhang, Junyun Shang, Lili Zhang, Na Yang, Jing Guo

Proceedings Volume 12475, Second International Conference on Advanced Algorithms and Signal Image Processing (AASIP 2022); 1247512 (2022) https://doi.org/10.1117/12.2659583
Event: Second International Conference on Advanced Algorithms and Signal Image Processing (AASIP 2022), 2022, Hulun Buir, China

Abstract

The traditional hand-eye calibration needs to take the calibration target image acquired by the vision system and the corresponding robot pose information as input, the process is complicated, and there is a risk of calibration failure when the data are not corresponding. To solve these problems, a fast hand-eye calibration method is proposed. According to the principle that a certain point in space has the same three-dimensional (3D) coordinates in its coordinate system after the motion of the coordinate system, to control the end of the robot to carry out multiple translation and rotational motion, the traditional hand-eye calibration model AX=XB is simplified into AX=B. The hand-eye calibration matrix can be quickly solved only by the transformation between the camera coordinate system and the calibration target coordinate system. The experimental results show that the proposed method is simple, fast and high accuracy. It can be applied to eye-in-hand system and eye-to-hand system.

Citation Download Citation

Hua Luo, Ke Zhang, Junyun Shang, Lili Zhang, Na Yang, and Jing Guo "A fast hand-eye calibration method", Proc. SPIE 12475, Second International Conference on Advanced Algorithms and Signal Image Processing (AASIP 2022), 1247512 (22 November 2022); https://doi.org/10.1117/12.2659583

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