Related papers: Optimal Uncertainty-Aware Calibration for the AX=Y…
Whenever a sensor is mounted on a robot hand it is important to know the relationship between the sensor and the hand. The problem of determining this relationship is referred to as hand-eye calibration, which is important in at least two…
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…
The recent development of calibration algorithms has been driven into two major directions: (1) an increasing accuracy of mathematical approaches and (2) an increasing flexibility in usage by reducing the dependency on calibration objects.…
The need to relate measurements made by a camera to a different known coordinate system arises in many engineering applications. Historically, it appeared for the first time in the connection with cameras mounted on robotic systems. This…
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…
Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…
Hand-eye calibration, which consists in identifying the rigid- body transformation between a camera mounted on the robot end-effector and the end-effector itself, is a fundamental problem in robot vision. Mathematically, this problem can be…
Hand-eye calibration algorithms are mature and provide accurate transformation estimations for an effective camera-robot link but rely on a sufficiently wide range of calibration data to avoid errors and degenerate configurations. To solve…
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…
Hand-eye calibration, as a fundamental task in vision-based robotic systems, aims to estimate the transformation matrix between the coordinate frame of the camera and the robot flange. Most approaches to hand-eye calibration rely on…
Obtaining reliable and accurate quantification of uncertainty estimates from deep neural networks is important in safety-critical applications. A well-calibrated model should be accurate when it is certain about its prediction and indicate…
In industrial scenarios, effective human-robot collaboration relies on multi-camera systems to robustly monitor human operators despite the occlusions that typically show up in a robotic workcell. In this scenario, precise localization of…
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…
In this paper we propose a new flexible method for hand-eye calibration. The vast majority of existing hand-eye calibration techniques requires a calibration rig which is used in conjunction with camera pose estimation methods. Instead, we…
Hand-eye calibration is an important and extensively researched method for calibrating rigidly coupled sensors, solely based on estimates of their motion. Due to the geometric structure of this problem, at least two motion estimates with…
The proliferation of Deep Neural Networks has resulted in machine learning systems becoming increasingly more present in various real-world applications. Consequently, there is a growing demand for highly reliable models in many domains,…
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…
The hand-eye calibration problem is an important application problem in robot research. Based on the 2-norm of dual quaternion vectors, we propose a new dual quaternion optimization method for the hand-eye calibration problem. The dual…
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…
Accurate uncertainty estimates are important in sequential model-based decision-making tasks such as Bayesian optimization. However, these estimates can be imperfect if the data violates assumptions made by the model (e.g., Gaussianity).…