In this paper, a self-calibration approach for eye-in-hand robots using SLAM is considered. The goal is to calibrate the positioning of a robotic arm, with a camera mounted on the end-effector automatically using a SLAM-based method like Extended Kalman Filter (EKF). Given the camera intrinsic parameters and a set of feature markers in a work-space, the camera extrinsic parameters are approximated. An EKF based measurement model is deployed to effectively localize the camera and compute the camera to end-effector transformation. The proposed approach is tested on a UR5 manipulator with a depth-camera mounted on the end-effector to validate our results.
@article{arxiv.2211.06881,
title = {Automatic Eye-in-Hand Calibration using EKF},
author = {Aditya Ramakrishnan and Chinmay Garg and Haoyang He and Shravan Kumar Gulvadi and Sandeep Keshavegowda},
journal= {arXiv preprint arXiv:2211.06881},
year = {2022}
}