摘要
在手眼系统中,提出一种统一相机标定和手眼标定的简便标定方法。一般来说,相机标定和手眼标定是分别进行的,故提出一种可以同步完成相机标定和手眼标定的整体标定方法。利用几何代数将几何对象作为代数实体通过代数运算的方法进行手眼标定。采用张正友相机标定方法完成摄像机标定。通过将算法与其他手眼标定方法如"两步法"得到的结果进行比较,可知这里方法所得结果精度更高。上述实验的结果表明提出的同步标定算法的可行性和有效性。
A novel convenient method for hand-eye robot system calibration that includes camera calibration and hand-eye calibration is presented. In the classical robot vision system calibration, the camera calibration and the hand-eye calibration are completed separately. It proposed a joint camera calibration that integrated the camera calibration and the hand-eye calibration simultaneously. The joint calibration algorithm was based on hand-eye calibration that using the geometric algebra （GA）, which allowed us to treat geometric objects as algebraic entities that can be easily treated with algebraic tools. The idea of camera calibration came from Zhang Zheng-you camera calibration method. Results obtained with the approach are compared with other approach which computes in a two-step algorithm for hand-eye calibration, and are promising. The experimental results show that our joint calibration is feasible and effective.
出处
《机械设计与制造》
北大核心
2015年第12期58-61,共4页
Machinery Design & Manufacture
基金
江苏省自然科学基金青年项目-面向冗余双臂工业机器人视觉系统的CGA处理器研究(BK20140252)
常州工学院大学生实践创新创业训练计划项目-基于视觉的冗余双臂工业机器人高精度位姿测量研究(A-4004-13-004)
关键词
手眼系统
手眼标定
摄像机标定
几何代数
同步化
模型误差
Hand-Eye System
Hand-Eye Calibration
Camera Calibration
Geometric Algebra
Integrating
Model Error
