Optimal Hand-Eye Calibration

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Optimal Hand-Eye Calibration
— This paper presents a calibration method for eye-in-hand systems in order to estimate the hand-eye and the robot-world transformations. The estimation takes place in terms of a parametrization of a stochastic model. In order to perform optimally, a metric on the group of the rigid transformations SE(3) and the corresponding error model are proposed for nonlinear optimization. This novel metric works well with both common formulations AX=XB and AX=ZB, and makes use of them in accordance with the nature of the problem. The metric also adapts itself to the system precision characteristics. The method is compared in performance to earlier approaches.
Klaus H. Strobl, Gerd Hirzinger
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Klaus H. Strobl, Gerd Hirzinger
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