Globally optimal hand-eye calibration

10 years 2 months ago
Globally optimal hand-eye calibration
This paper introduces simultaneous globally optimal hand-eye self-calibration in both its rotational and translational components. The main contributions are new feasibility tests to integrate the hand-eye calibration problem into a branch-and-bound parameter space search. The presented method constitutes the first guaranteed globally optimal estimator for simultaneous optimization of both components with respect to a cost function based on reprojection errors. The system is evaluated in both synthetic and real world scenarios. The employed benchmark dataset is published online1 to create a common point of reference for evaluation of hand-eye self-calibration algorithms.
Thomas Ruland, Tomás Pajdla, Lars Krüg
Added 28 Sep 2012
Updated 28 Sep 2012
Type Journal
Year 2012
Where CVPR
Authors Thomas Ruland, Tomás Pajdla, Lars Krüger
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