An iterative approach to the hand-eye and base-world calibration problem

Hirsh, Robert L.; DeSouza, Guilherme N.; Kak, Avinash C.

doi:10.1109/robot.2001.932945

Cited by 48 publications

(40 citation statements)

References 10 publications

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“…This means that the robot controller is receiving commands directly in the Cartesian space, which makes the control plant much simpler compared to the image-based servoing category [3]. However, the position-based servoing requires camera calibration, robot calibration, and hand-eye calibration [6].…”

Section: Purdue Line Tracking Systemmentioning

confidence: 99%

“…The real-time visual servoing implementation used in this study was developed at the Purdue Robot Vision Lab using a subsumptive, hierarchical, and distributed vision-based architecture for smart robotics [3,6,16,17]. This is a robust, advanced dynamic visual servoing implementation with a high level of fault tolerance to non-cooperative conditions such as severe occlusions and sudden illumination changes.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic 6DOF metrology for evaluating a visual servoing system

Chang¹,

Hong²,

Shneier³

et al. 2008

Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems

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In this paper we demonstrate the use of a dynamic, six-degree-offreedom (6DOF) laser tracker to empirically evaluate the performance of a real-time visual servoing implementation, with the objective of establishing a general method for evaluating realtime 6DOF dimensional measurements. The laser tracker provides highly accurate ground truth reference measurements of position and orientation of an object under motion, and can be used as an objective standard for calibration and evaluation of visual servoing and robot control algorithms. The real-time visual servoing implementation used in this study was developed at the Purdue Robot Vision Lab with a subsumptive, hierarchical, and distributed vision-based architecture. Data were taken simultaneously from the laser tracker and visual servoing implementation, enabling comparison of the data streams.

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Section: Purdue Line Tracking Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic 6DOF metrology for evaluating a visual servoing system

Chang¹,

Hong²,

Shneier³

et al. 2008

Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems

View full text Add to dashboard Cite

show abstract

“…In all real testing scenarios performed, the system needed to extract reliable image coordinates of the feature points. To achieve that, the system relied on a very accurate calibration procedure [3]. Given that, the system could then return the image coordinates of the feature points at each time instant t. In the case of the simulated scenarios, a camera simulator was also implemented using C++ classes.…”

Section: A Homographymentioning

confidence: 99%

“…The relationship between these two sets of vectors can be expressed as mi = t +OR* mi (3) where t (t) is the translation between the two frames, and°R * (t) is the rotation matrix which brings 8 derivation of the control inputs using a quaternion formulation. The conversion from rotation and translation into a quaternion form as well as other derivations omitted here can be found in [9].…”

Section: Introductionmentioning

confidence: 99%

Image-based Visual Servoing of a Real Robot Using a Quaternion Formulation

Koenig

Dong

DeSouza

2008

2008 IEEE Conference on Robotics, Automation and Mechatronics

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In this paper we present the results from our visual servoing system for a real industrial robot. In contrast to other visual servoing system in the literature, the one presented here, which was derived from [4], uses a quaternion representation of the rotation instead of the more common matrix representation. By doing so, the proposed system avoids potential singularities introduced by the rotational matrix representation. After performing exhaustive tests in a simulated environment, our controller was applied to a Kawasaki UX150. In the case of simulation, the movement of the camera and the image processing were performed using Matlab-Simulink, which allowed us to test the controller regardeless of the mechanism in which the camera was moved and the underlying controller that was needed for this movement. In the case of the real robot, the controller was tested initially using another simulation program provided by Kawasaki Japan and later with the real Kawasaki robot. The setup for testing and the results for all three cases above are presented here, but for more details on the simulations, the reader is encouraged to check [8].

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“…In this formulation, A and B are the homogeneous transformations measured directly from sensors. Quite a few AX = Y B solvers have been proposed in the literature [9,11,12,14,15,17,25]. Most of the existing AX = XB and AX = Y B solvers deal with the case where there is an exact correspondence between the data pairs A i and B i .…”

Section: A Related Workmentioning

confidence: 99%

Probabilistic Approaches to the AXB = YCZ Calibration Problem in Multi-Robot Systems

Goh

Chirikjian

Robotics: Science and Systems XII

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Abstract-In recent years, the topic of multi-robot systems has become very popular. These systems have been demonstrated in various applications, including exploration, construction, and warehouse operations. In order for the whole system to function properly, sensor calibrations such as determining the camera frame relative to the IMU frame are important. Compared to the traditional hand-eye & robot-world calibration, a relatively new problem called the AXB = Y CZ calibration problem arises in the multi-robot scenario, where A, B, C are rigid body transformations measured from sensors and X, Y, Z are unknown transformations to be calibrated. Several solvers have been proposed previously in different application areas that can solve for X, Y and Z simultaneously. However, all of the solvers assume a priori knowledge of the exact correspondence among the data streams {Ai}, {Bi} and {Ci}. While that assumption may be justified in some scenarios, in the application domain of multi-robot systems, which may use ad hoc and asynchronous communication protocols, knowledge of this correspondence generally cannot be assumed. Moreover, the existing methods in the literature require good initial estimates that are not always easy or possible to obtain. In this paper, we propose two probabilistic approaches that can solve the AXB = Y CZ problem without a priori knowledge of the correspondence of the data. In addition, no initial estimates are required for recovering X, Y and Z. These methods are particularly well suited for multi-robot systems, and also apply to other areas of robotics in which AXB = Y CZ arises.

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An iterative approach to the hand-eye and base-world calibration problem

Cited by 48 publications

References 10 publications

Dynamic 6DOF metrology for evaluating a visual servoing system

Dynamic 6DOF metrology for evaluating a visual servoing system

Image-based Visual Servoing of a Real Robot Using a Quaternion Formulation

Probabilistic Approaches to the AXB = YCZ Calibration Problem in Multi-Robot Systems

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