OPTIMIZATION OF HAND-TO-CAMERA CALIBRATION USING GEOMETRICAL INTERPRETATION OF MATRIX EQUATION AX = XB

Giovanni Legnani

References

  1. [1] M. Li, Z. Sun, S. Liu, et al., Stereo vision technologies for China’s lunar rover exploration mission, International Journal of Robotics and Automation, 31(2), 2016, 128–136.
  2. [2] D.-V. Nguyen, L. Kuhnert, and K.-D. Kuhnert, General vegetation detection using an integrated vision system, International Journal of Robotics and Automation, 28(2), 2013, 170–179.
  3. [3] P.A. Bender and G.M. Bone, Automated grasp planning and execution for real-world objects using computer vision and tactile probing, International Journal of Robotics and Automation, 19(1), 2004, 15–27.
  4. [4] K. Daniilidis, Hand-eye calibration using dual quaternions, International Journal of Robotics Research, 18(3), 1999, 286–298.
  5. [5] M.Y. Kim, Y.J. Roh, H.S. Cho, and J.H. Kim, Hand/eye calibration of robot arms with a 3D visual sensing system, ISR2001, Proc. 32 Int. Symp. on Robotics, Seoul, 19–21 April 2001, 708–713.
  6. [6] H. Zhuang, Hand/eye calibration for electronic assembly robots, IEEE Transactions on Robotics and Automation, 14(4), 1998, 612–616.
  7. [7] R. Horaud and F. Dornaika, Hand-eye calibration, International Journal of Robotics Research, 14(3), 1995, 195–210.
  8. [8] Z. Kukelova, J. Heller, and T. Pajdla, Hand-eye calibration without hand orientation measurement using minimal solution, in K.M. Lee, Y. Matsushita, J.M. Rehg, Z. Hu (eds.), Computer Vision – ACCV 2012. ACCV 2012. Lecture Notes in Computer Science, 7727, Springer, Berlin, Heidelberg, 2013, 576–589.
  9. [9] H. Abidi, M. Chtourou, K. Kaaniche, and H. Mekki, Saliencybased robust features for global visual servoing, International Journal of Robotics and Automation, 31(5), 2016, 390–395.
  10. [10] B.P. Larouche and Z.H. Zhu, Position-based visual servoing in robotic capture of moving target enhanced by Kalman filter, International Journal of Robotics and Automation, 30(3), 2015, 267–277.
  11. [11] E. Tatlicioglu, D.M. Dawson, and B. Xian, Adaptive visual servo regulation control for camera-in-hand configuration with a fixed camera extension, International Journal of Robotics and Automation, 24(4), 2009, 346–355.
  12. [12] P.A. Bender and G.M. Bone, Automated grasp planning and execution for real-world objects using computer vision and tactile probing, International Journal of Robotics and Automation, 19(1), 2004, 15–27.
  13. [13] G. Legnani, F. Casolo, P. Righettini, and B. Zappa, A homogeneous matrix approach to 3D kinematics and dynamics. Part 1: Theory, Mechanisms, and Machine Theory, 31(5), 1996, 573–587.
  14. [14] G. Legnani, B. Zappa, and P. Righettini, A homogeneous matrix approach to 3D kinematics and dynamics. Part 2: Applications, Mechanisms, and Machine Theory, 31(5), 1996, 589–605.
  15. [15] J. Denavit and R.S. Hartenberg, Trans. of the ASME. Journal of Applied Mechanics, 22, 1955, 215–221.
  16. [16] Y. Fang, W.E. Dixon, D.M. Dawson, and J. Chen, An exponential class of visual servoing controllers in the presence of uncertain camera calibration, International Journal of Robotics and Automation, 21(4), 2006, 247–254.
  17. [17] R.Y. Tsai, and R.K. Lenz, A new technique for fully autonomous and efficient 3D robotics hand/eye calibration, IEEE Transactions on Robotics and Automation, 5(3), 1989, 345–358.
  18. [18] H. Chen, A screw motion approach to uniqueness analysis of head-eye geometry, Proc. of Computer Vision and Pattern Recognition (CVPR), Maui, Hawaii (IEEE Computer Society Press, 1991), 145–151. http://ieeexplore.ieee.org/document/ 139677/
  19. [19] M. Shah, R.D. Eastman, and T. Hong, An overview of robot-sensor calibration methods for evaluation of perception systems, PerMIS ’12 Proc. of the Workshop on Performance Metrics for Intelligent Systems, 2012, 15–20. https://dl.acm.org/citation.cfm?id=2393095
  20. [20] P. Lancaster and M. Tismenetsky, The theory of matrices (Academic Press, Harcourt Brace Javanovich Publisher, 1985), 416–424.
  21. [21] F.C. Park and B.J. Martin, Sensor calibration: Solving AX = XB on the Euclidean Group, IEEE Transactions on Robotics and Automation, 10(5), 1994, 717–721.
  22. [22] J.C.K. Chou and M. Kamel, Finding the position and orientation of a sensor on a robot manipulators using quaternions, International Journal of Robotics Research, 10(3), 1991, 240–554.
  23. [23] C. Gong, J. Yuan, and J. Ni, A self calibration method for robotic measurement system, Transactions of ASME, Journal of Manufacturing Science and Engineering, 122, 2000, 174–181.
  24. [24] Y.C. Shiu and S. Ahmad, Calibration of wrist-mounted robotic sensors by solving homogeneous transformation equation of the form AX = XB, IEEE Transactions on Robotics and Automation, 5(1), 1989, 16–29.
  25. [25] F. Dornaika and R. Horaud, Simultaneous robot-world and hand-eye calibration, IEEE Transactions on Robotics and Automation, 14(4), 1998, 617–622.
  26. [26] M.K. Ackerman, A. Cheng, and G. Chirikjian, An informationtheoretic approach to the correspondence-free AX = XB sensor calibration problem, ICRA, 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, May 31–June 7, 2014, 4893–4899.
  27. [27] M.K. Ackerman, A. Cheng, B. Shiffman, E. Boctor, and G. Chirikjian, Sensor calibration with unknown correspondence: Solving AX = XB using Euclidean-Group invariants, IROS 2013, 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tokyo, November 3–7, 2013, 1308–1313.
  28. [28] J. Schmidt and H. Niemann, Data selection for hand-eye calibration: A vector quantization approach, International Journal of Robotics Research, 27, 2008, 1027.
  29. [29] M.K. Ackerman, A. Cheng, E. Boctor, and G. Chirikjian, Online ultrasound calibration using gradient descent on the Euclidean Group, ICRA, IEEE Int. Conf. on Robotics and Automation, Hong Kong, May 31–June 7, 2014, 4900–4905.
  30. [30] J. Mao, X. Huang, and A. Jiang Li, Flexible solution to AX = XB for robot hand-eye calibration, Proc. of 10th WSEAS Int. Conf. on Robotics, Control and Manufacturing Technology, Hangzhou, April 10–12, 2010, 118–122.
  31. [31] F. Vicentini, N. Pedrocchi, M. Malosio, and L. Molinari Tosatti, High-accuracy hand-eye calibration from motion on manifolds, 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, September 25–30, 2011, 3327–3334.
  32. [32] I. Fassi and G. Legnani, Hand to sensor calibration: A geometrical interpretation of the matrix equation AX = XB, Journal of Robotic Systems, 22(9), 2005, 497–506.
  33. [33] G. Legnani and I. Fassi, Representation of 3D motion by projective angles, Proc. of ASME IDETC/CIE 2015, Boston, MA, August 2–5, 2015.
  34. [34] A. Ben-Israel and T.N.E. Greville, Generalized inverses: Theory and applications (Springer, 2003). ISBN 0-387-00293-6.
  35. [35] G. Legnani, Robotica industriale, CEA ed. (2003). ISBN 9788808-08631-0.
  36. [36] C.-C. Tseng and S.-C. Pei, Stable IIR notch filter design with optimal pole placement, IEEE Transactions on Signal Processing, 49(11), 2001, 2673–2681.

Important Links:

Go Back