Reconstruction-Based Hand-Eye Calibration Using Arbitrary Objects
文献类型：期刊论文
| 作者 | Xing, Shiyu1,2; Jing, Fengshui1,2 ; Tan, Min1,2
|
| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
 |
| 出版日期 | 2023-05-01 |
| 卷号 | 19期号:5页码:6545-6555 |
| 关键词 | Robot sensing systems Calibration Robots Point cloud compression Three-dimensional displays Service robots Robot motion 3-D reconstruction arbitrary objects computer vision and its industrial application hand-eye calibration iterative closest point (ICP) variant |
| ISSN号 | 1551-3203 |
| DOI | 10.1109/TII.2022.3203771 |
| 通讯作者 | Jing, Fengshui(fengshui.jing@ia.ac.cn) |
| 英文摘要 | This article introduces a flexible hand-eye calibration technique for a 3-D sensor from a reconstruction perspective, with no need for a specialized and accurate calibration rig. Our intention is to find the hand-eye relation that simultaneously aligns multiview point clouds of a common scene into the robot base frame, namely simultaneous calibration and reconstruction. To achieve this goal, a novel variant of iterative closest point (ICP) algorithm based on the Gauss-Newton method and Lie algebra is proposed, which iteratively transforms multiview point clouds into the robot base frame, estimates point-to-point correspondences between point clouds then refines the hand-eye relation to minimize the Euclidean distance between corresponding points. In addition to the calibration result, it returns a preliminary reconstruction as a byproduct. Cases of degeneracy and applicable conditions are given and proved. Using arbitrary daily objects with no prior information and a real robotic eye-in-hand system, we verify our method feasible and effective. |
| WOS关键词 | POSE ESTIMATION ; SENSOR ; REGISTRATION ; ORIENTATION |
| 资助项目 | National Natural Science Foundation of China[62173327] ; National Natural Science Foundation of China[U1813208] ; National Key research and development program of China[2019YFB1312703] |
| WOS研究方向 | Automation & Control Systems ; Computer Science ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000982913400027 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; National Key research and development program of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/53456]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Jing, Fengshui |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Xing, Shiyu,Jing, Fengshui,Tan, Min. Reconstruction-Based Hand-Eye Calibration Using Arbitrary Objects[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2023,19(5):6545-6555. |
| APA | Xing, Shiyu,Jing, Fengshui,&Tan, Min.(2023).Reconstruction-Based Hand-Eye Calibration Using Arbitrary Objects.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,19(5),6545-6555. |
| MLA | Xing, Shiyu,et al."Reconstruction-Based Hand-Eye Calibration Using Arbitrary Objects".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 19.5(2023):6545-6555. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。