An Efficient Calibration Method of Line Structured Light Vision Sensor in Robotic Eye-in-Hand System
文献类型：期刊论文
| 作者 | Wang, Zhe2,3 ; Fan, Junfeng2; Jing, Fengshui2,3; Deng, Sai2; Zheng, Mingyang1; Tan, Min2,3
|
| 刊名 | IEEE SENSORS JOURNAL
 |
| 出版日期 | 2020-06-01 |
| 卷号 | 20期号:11页码:6200-6208 |
| 关键词 | Calibration Robot sensing systems Cameras Robot kinematics Vision sensors Robotic hand eye system sensor calibration simultaneous calibration structured light vision |
| ISSN号 | 1530-437X |
| DOI | 10.1109/JSEN.2020.2975538 |
| 通讯作者 | Jing, Fengshui(fengshui.jing@ia.ac.cn) |
| 英文摘要 | For line structured light vision sensor in robotic eye-in-hand system, the calibration of camera parameters, robot hand eye parameters and structured light plane parameters is an indispensable procedure before conducting 3-D measurement. Traditionally, these three sets of parameters are calibrated separately, making the calibration process complicated and inefficient. To address this, an efficient calibration method is proposed in this paper. By changing the poses of robot and calibration target, a set of images of the calibration target is captured, upon which the camera calibration is conducted. The extrinsic parameters obtained from camera calibration are utilized in the calibration of the structured light plane parameters and hand eye parameters, using the same set of images. Therefore, the three sets of parameters can be simultaneously calibrated with simple on-site operations. Moreover, the calibration target used in this method is only a planar checkerboard, which can be easily acquired at low cost. It is verified in the experiment that the proposed method is efficient and accurate, with the calibration duration within 10 minutes and the measurement accuracy within 0.40mm. Additionally, object pose measurement experiment is conducted to validate the effectiveness of the proposed method in practical application. |
| 资助项目 | National Natural Science Foundation of China[U1813208] ; National Natural Science Foundation of China[61903362] ; State Key Laboratory of Management and Control for Complex Systems[20190201] |
| WOS研究方向 | Engineering ; Instruments & Instrumentation ; Physics |
| 语种 | 英语 |
| WOS记录号 | WOS:000534280800062 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; State Key Laboratory of Management and Control for Complex Systems |
| 源URL | [http://ir.ia.ac.cn/handle/173211/39512]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Jing, Fengshui |
| 作者单位 | 1.North China Elect Power Univ, Sch Control & Comp Engn, Beijing 102206, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Zhe,Fan, Junfeng,Jing, Fengshui,et al. An Efficient Calibration Method of Line Structured Light Vision Sensor in Robotic Eye-in-Hand System[J]. IEEE SENSORS JOURNAL,2020,20(11):6200-6208. |
| APA | Wang, Zhe,Fan, Junfeng,Jing, Fengshui,Deng, Sai,Zheng, Mingyang,&Tan, Min.(2020).An Efficient Calibration Method of Line Structured Light Vision Sensor in Robotic Eye-in-Hand System.IEEE SENSORS JOURNAL,20(11),6200-6208. |
| MLA | Wang, Zhe,et al."An Efficient Calibration Method of Line Structured Light Vision Sensor in Robotic Eye-in-Hand System".IEEE SENSORS JOURNAL 20.11(2020):6200-6208. |
入库方式： OAI收割
来源：自动化研究所
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