Development of High-precise Hand-eye Calibration Software System

被引：1
|
作者：
Gao Yang [1 ]
Wang Haixia [1 ]
Xie Peng [1 ]
Cao Maoyong [1 ]
机构：
[1] Shandong Univ Sci & Technol, Key Lab Robot & Intelligent Technol Shandong Prov, Qingdao 266510, Peoples R China
来源：
PROCEEDINGS OF THE 27TH CHINESE CONTROL CONFERENCE, VOL 5 | 2008年
关键词：
Robot; Hand-Eye Calibration; FOE point; Constant matrix;
D O I：
10.1109/CHICC.2008.4605581
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Improving the precision of calibration is always the hotspot in the field of intelligent robot. A Hand-Eye calibration software system, which is simple, practical and high-precise, is developed in order to further build a sound platform which realizes tasks such as auto-jointing, auto-assembling, auto-cartage, and so on. With the help of the FOE points obtained by the camera translational motion and the direction of camera movement, the algorithm of Hand-Eye calibration is used to realize the. calibration of the inner parameters of camera and hand-eye relationship rotation matrix, and they are optimized by using L-M optimization algorithm. Three target points are used to calculate as reference points when the FOE points are given, and FOE points will be selected by setting threshold value. Finally, the Hand-Eye relative position vector can be obtained by making the camera do rotary movement twice. Matlab and VC++ software will be used to achieve the algorithm of calibration. A more convenient and effective Hand-Eye calibration software system will be given by taking fun advantage of visual interface of VC++ and convenience of calculation tool of Matlab.
引用
收藏
页码：426 / +
页数：2
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