Fast and Accurate 3D Eye-To-hand Calibration for Large-Scale Scene based on HALCON
文献类型：会议论文
| 作者 | Wang, Geng1,2; Quan, Wanlong1; Li, Yaonan1; Fang, Siwen1; Chen, Heping1 |
| 出版日期 | 2021 |
| 会议日期 | July 27-31, 2021 |
| 会议地点 | Jiaxing, China |
| 页码 | 230-234 |
| 英文摘要 | The premise of robot executing vision-based tasks is to establish the coordination between robot eye (structured light 3D sensor) and a hand (end effector). However, it is inefficient to perform the 3D eye-To-hand calibration for large-scale scene due to large amounts of point clouds data contained in the scene. This paper describes a fast and accurate 3D eye-To-hand calibration method for large-scale scene. A common tee pipe is used as calibration object. The method presented here comprises the following steps: Firstly, voxel grid filtering method is used for reducing the number of point clouds data. Secondly, employing euclidean cluster extraction method, the point clouds data of the calibration object can be extracted from the large-scale scene. Thirdly, the pose of the calibration object is acquired by surface-based 3D matching. Finally, the 3D eye-To-hand calibration is performed, and robot grasping experiments are carried out on ABB YuMi platform to validate the accuracy of calibration results. The experiments demonstrate that our method can achieve high calibration accuracy and significantly improve the efficiency of calibration. © 2021 IEEE. |
| 源文献作者 | IEEE Robotics and Automation Society ; Shenyang Institute of Automation CAS ; Shenzhen Academy of Robotics |
| 产权排序 | 1 |
| 会议录 | 2021 IEEE 11th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2021
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 2642-6633 |
| ISBN号 | 978-1-6654-2527-8 |
| 源URL | [http://ir.sia.cn/handle/173321/29928]  |
| 专题 | 沈阳自动化研究所_其他 |
| 通讯作者 | Wang, Geng |
| 作者单位 | 1.Shenzhen Academy of Robotics, Shenzhen, 518057, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences(CAS), Shenyang, 110016, China |
| 推荐引用方式 GB/T 7714 | Wang, Geng,Quan, Wanlong,Li, Yaonan,et al. Fast and Accurate 3D Eye-To-hand Calibration for Large-Scale Scene based on HALCON[C]. 见:. Jiaxing, China. July 27-31, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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