相关论文: Automatic Robot Hand-Eye Calibration Enabled by Le…

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.…

With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…

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…

This work presents an RGB-D imaging-based approach to marker-free hand-eye calibration using a novel implementation of the iterative closest point (ICP) algorithm with a robust point-to-plane (PTP) objective formulated on a Lie algebra. Its…

Camera-to-robot (also known as eye-to-hand) calibration is a critical component of vision-based robot manipulation. Traditional marker-based methods often require human intervention for system setup. Furthermore, existing autonomous…

We propose a certifiably globally optimal approach for solving the hand-eye robot-world problem supporting multiple sensors and targets at once. Further, we leverage this formulation for estimating a geo-referenced calibration of…

Eye-in-hand camera calibration is a fundamental and long-studied problem in robotics. We present a study on using learning-based methods for solving this problem online from a single RGB image, whilst training our models with entirely…

Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively affects their potential applications in localization and…

RegHEC is a registration-based hand-eye calibration technique with no need for accurate calibration rig but arbitrary available objects, applicable for both eye-in-hand and eye-to-hand cases. It tries to find the hand-eye relation which…

Automatic extrinsic sensor calibration is a fundamental problem for multi-sensor platforms. Reliable and general-purpose solutions should be computationally efficient, require few assumptions about the structure of the sensing environment,…

Precision robotic manipulation tasks (insertion, screwing, precisely pick, precisely place) are required in many scenarios. Previous methods achieved good performance on such manipulation tasks. However, such methods typically require…

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…

A common prerequisite for evaluating a visual(-inertial) odometry (VO/VIO) algorithm is to align the timestamps and the reference frame of its estimated trajectory with a reference ground-truth derived from a system of superior precision,…

Determining extrinsic calibration parameters is a necessity in any robotic system composed of actuators and cameras. Once a system is outside the lab environment, parameters must be determined without relying on outside artifacts such as…

Correct fusion of data from two sensors is not possible without an accurate estimate of their relative pose, which can be determined through the process of extrinsic calibration. When two or more sensors are capable of producing their own…

Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significance for accurate control and simulation, it is often…

High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…

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…

Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…

Multi-perspective cameras are quickly gaining importance in many applications such as smart vehicles and virtual or augmented reality. However, a large system size or absence of overlap in neighbouring fields-of-view often complicate their…