A Novel Camera-to-Robot Calibration Method for Vision-Based Floor Measurements
Abstract
A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for precise localization. A referencing plate is designed to combine the two measurement modalities of laser-tracker 3D metrology and camera-based 2D imaging. It incorporates reflector nests for pose acquisition using a laser tracker and a camera calibration target that is observed by the robot-mounted camera. The procedure comprises estimating the plate pose, the plate-camera pose, and the robot pose, followed by computing the robot-camera transformation. Experiments indicate sub-millimeter repeatability.
Cite
@article{arxiv.2603.15126,
title = {A Novel Camera-to-Robot Calibration Method for Vision-Based Floor Measurements},
author = {Jan Andre Rudolph and Dennis Haitz and Markus Ulrich},
journal= {arXiv preprint arXiv:2603.15126},
year = {2026}
}
Comments
8 pages; accepted for publication in the ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences