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A hand–eye calibration algorithm based on screw motions

Published online by Cambridge University Press:  01 March 2009

Zijian Zhao  and
Yuncai Liu
Zijian Zhao*
Affiliation:
Institute of Image Processing and Pattern Recognition, Shanghai Jiao Tong University, 200240 Shanghai, P. R. China
Yuncai Liu
Affiliation:
Institute of Image Processing and Pattern Recognition, Shanghai Jiao Tong University, 200240 Shanghai, P. R. China
*
*Corresponding author. E-mail: zj_zhao@sjtu.edu.cn
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Summary

When computer vision technique is used in robotics, robotic hand–eye calibration is a very important research task. Many algorithms have been proposed for hand–eye calibration. Based on these algorithms, we introduce a new hand–eye calibration algorithm in this paper, which employs the screw motion theory to establish a hand–eye matrix equation by using quaternion and gets a simultaneous result for rotation and translation by solving linear equations. The algorithm proposed in this paper has high accuracy and stable computational efficiency and can be understood easily. Both simulations and real experiments show the superiority of our algorithm over the comparative algorithms.

Keywords

Computer visionRobotic handsPose estimation and registrationSurgical robotsVisual servoingHand-eye calibration
Type
Article
Information
Robotica , Volume 27 , Issue 2 , March 2009 , pp. 217 - 223
Copyright
Copyright © Cambridge University Press 2008

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