Related papers: Certifiably Optimal Monocular Hand-Eye Calibration
Environment perception is a key component of any autonomous system and is often based on a heterogeneous set of sensors and fusion thereof for which sensor sensor calibration plays fundamental role. It can be divided to intrinsic and…
Hand-eye calibration is a critical task in robotics, as it directly affects the efficacy of critical operations such as manipulation and grasping. Traditional methods for achieving this objective necessitate the careful design of joint…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
We propose a least-squares formulation to the noisy hand-eye calibration problem using dual-quaternions, and introduce efficient algorithms to find the exact optimal solution, based on analytic properties of the problem, avoiding non-linear…
Many robotics and mapping systems contain multiple sensors to perceive the environment. Extrinsic parameter calibration, the identification of the position and rotation transform between the frames of the different sensors, is critical to…
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a…
Hand-eye calibration plays a fundamental role in robotics by directly influencing the efficiency of critical operations such as manipulation and grasping. In this work, we present a novel framework, EasyHeC++, designed for fully automatic…
Calibration of multi-camera systems, i.e. determining the relative poses between the cameras, is a prerequisite for many tasks in computer vision and robotics. Camera calibration is typically achieved using offline methods that use…
We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to…
Hand-eye calibration is an important task in vision-guided robotic systems and is crucial for determining the transformation matrix between the camera coordinate system and the robot end-effector. Existing methods, for multi-view robotic…
This article proposes a general optimization framework for solving hand-eye calibration problem. Unlike traditional methods, an iterative algorithm based on Lie algebra that achieves approximately global optimal solutions is developed.…
Monocular camera sensors are vital to intelligent vehicle operation and automated driving assistance and are also heavily employed in traffic control infrastructure. Calibrating the monocular camera, though, is time-consuming and often…
Robot-world, hand-eye calibration is the problem of determining the transformation between the robot end-effector and a camera, as well as the transformation between the robot base and the world coordinate system. This relationship has been…
Correct radar data fusion depends on knowledge of the spatial transform between sensor pairs. Current methods for determining this transform operate by aligning identifiable features in different radar scans, or by relying on measurements…
We present a novel approach for mobile manipulator self-calibration using contact information. Our method, based on point cloud registration, is applied to estimate the extrinsic transform between a fixed vision sensor mounted on a mobile…
We propose a method for automatic calibration of a traffic surveillance camera with wide-angle lenses. Video footage of a few minutes is sufficient for the entire calibration process to take place. This method takes in the height of the…
In order to fuse measurements from multiple sensors mounted on a mobile robot, it is needed to express them in a common reference system through their relative spatial transformations. In this paper, we present a method to estimate the full…
Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…
Hand-eye calibration is the problem of estimating the spatial transformation between a reference frame, usually the base of a robot arm or its gripper, and the reference frame of one or multiple cameras. Generally, this calibration is…
Acoustic cameras have found many applications in practice. Accurate and reliable extrinsic calibration of the microphone array and visual sensors within acoustic cameras is crucial for fusing visual and auditory measurements. Existing…