Hostname: page-component-74656f9884-j7cmm Total loading time: 0 Render date: 2026-11-10T04:39:40.636Z Has data issue: false hasContentIssue false
  • English
  • Français

A hand–eye calibration algorithm based on screw motions

Published online by Cambridge University Press:  01 March 2009

Zijian Zhao  and
Yuncai Liu
Zijian Zhao*
Affiliation:
Institute of Image Processing and Pattern Recognition, Shanghai Jiao Tong University, 200240 Shanghai, P. R. China
Yuncai Liu
Affiliation:
Institute of Image Processing and Pattern Recognition, Shanghai Jiao Tong University, 200240 Shanghai, P. R. China
*
*Corresponding author. E-mail: zj_zhao@sjtu.edu.cn
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

When computer vision technique is used in robotics, robotic hand–eye calibration is a very important research task. Many algorithms have been proposed for hand–eye calibration. Based on these algorithms, we introduce a new hand–eye calibration algorithm in this paper, which employs the screw motion theory to establish a hand–eye matrix equation by using quaternion and gets a simultaneous result for rotation and translation by solving linear equations. The algorithm proposed in this paper has high accuracy and stable computational efficiency and can be understood easily. Both simulations and real experiments show the superiority of our algorithm over the comparative algorithms.

Keywords

Computer visionRobotic handsPose estimation and registrationSurgical robotsVisual servoingHand-eye calibration

Information

Type
Article
Information
Robotica , Volume 27 , Issue 2 , March 2009 , pp. 217 - 223
Copyright
Copyright © Cambridge University Press 2008

References

1.Shiu, Y. C. and Ahmad, S., “Calibration of wrist-mounted robotics sensors by solving homogeneous transform equations of the form AX=XB,” IEEE Trans. Rob. Automat. 5 (1), 16–27 (1989).CrossRefGoogle Scholar
2.Tsai, R. and Lenz, R., “A new technique for fully autonomous and efficient 3D robotics hand/eye calibration,” IEEE Trans. Rob. Automat. 5 (3), 345–358 (1989).CrossRefGoogle Scholar
3.Zhuang, H. and Shiu, Y. C., “A noise-tolerant algorithm for robotic hand–eye calibration with or without sensor orientation measurement,” IEEE Trans. Syst., Man Cybernet. 23 (4), 1168–1175 (1993).CrossRefGoogle Scholar
4.Chou, J. and Kamel, M., “Finding the position and orientation of a sensor on a robot manipulator using quaternions,” Int. J. Rob. Res. 10 (3), 240–254 (1991).CrossRefGoogle Scholar
5.Horaud, R. and Dornaika, F., “Hand–eye calibration,” Int. J. Rob. Res. 14 (3), 195–210 (1995).CrossRefGoogle Scholar
6.Daniilidis, K., “Hand–eye calibration using dual quaternions,” Int. J. Rob. Res. 18 (3), 286–298 (1999).CrossRefGoogle Scholar
7.Chen, H. H., “A Screw-Motion Approach to Uniqueness Analysis of Head–eye Geometry,” Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, Maui, Hawaii (1991) pp. 145–151.Google Scholar
8.Hirsh, R. L., Desouza, G. N. and Kak, A. C., “An Iterative Approach to the Hand–eye and Base-World Calibration Problem,” Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea (2001) pp. 21–26.Google Scholar
9.Malm, H. and Heyden, A., “Simplified Intrinsic Camera Calibration and Hand–eye Calibration for Robot Vision,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada (2003) pp. 1037–1043.Google Scholar
10.Dornaika, F. and Horaud, R., “Simultaneous robot-world and hand–eye calibration,” IEEE Trans. Rob. Automat. 14 (4), 617–622 (1998).CrossRefGoogle Scholar
11.Zhang, Z., “A flexible new technique for camera calibration,” IEEE Trans. Pattern Anal. Mach. Intell. 22 (11), 1330–1334 (2000).CrossRefGoogle Scholar