Effective self-calibration for camera parameters and hand-eye geometry based on two feature points motions

Jia Sun; Peng Wang; Zhengke Qin; Hong Qiao

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Effective self-calibration for camera parameters and hand-eye geometry based on two feature points motions

机译：基于两个特征点运动，对相机参数和手眼几何结构进行有效的自校准

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摘要

A novel and effective self-calibration approach for robot vision is presented, which can effectively estimate both the camera intrinsic parameters and the hand-eye transformation at the same time. The proposed calibration procedure is based on two arbitrary feature points of the environment, and three pure translational motions and two rotational motions of robot endeffector are needed. New linear solution equations are deduced, and the calibration parameters are finally solved accurately and effectively. The proposed algorithm has been verified by simulated data with different noise and disturbance. Because of the need of fewer feature points and robot motions, the proposed method greatly improves the efficiency and practicality of the calibration procedure.

机译：提出了一种新颖有效的机器人视觉自标定方法，该方法可以有效地同时估计摄像机固有参数和手眼变换。所提出的校准程序基于环境的两个任意特征点，并且需要机器人末端执行器的三个纯平移运动和两个旋转运动。推导了新的线性解方程，最终准确，有效地求解了标定参数。所提算法已通过具有不同噪声和干扰的模拟数据进行了验证。由于需要更少的特征点和机器人运动，该方法大大提高了校准过程的效率和实用性。

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来源
《Automatica Sinica, IEEE/CAA Journal of》 |2017年第2期|370-380|共11页
作者
Jia Sun; Peng Wang; Zhengke Qin; Hong Qiao;
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作者单位

Institute of Automation, Chinese Academy of Sciences U+0028 CASIA U+0029, Beijing 100190, China, and also with the University of Chinese Academy of Sciences, Beijing 100190, China;

Institute of Automation, Chinese Academy of Sciences U+0028 CASIA U+0029, Beijing 100190, China;

Institute of Automation, Chinese Academy of Sciences U+0028 CASIA U+0029, Beijing 100190, China, and also with the University of Chinese Academy of Sciences, Beijing 100190, China;

Institute of Automation, Chinese Academy of Sciences U+0028 CASIA U+0029, Beijing 100190, China;

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正文语种 eng
中图分类
关键词
Calibration; Cameras; Robot vision systems; Robot kinematics; Geometry; Robot motion;

机译：校准;相机;机器人视觉系统;机器人运动学;几何;机器人运动;

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专利

1. Effective Self-calibration for Camera Parameters and Hand-eye Geometry Based on Two Feature Points Motions [J] . Jia, Sun, Peng, 自动化学报：英文版 . 2017,第002期

机译：基于两个特征点运动的相机参数和手眼几何形状的有效自校准
2. Effective Self-calibration for Camera Parameters and Hand-eye Geometry Based on Two Feature Points Motions [J] . Jia Sun, Peng Wang, Zhengke Qin, 自动化学报（英文版） . 2017,第002期

机译：基于两个特征点运动的相机参数和手眼几何形状的有效自校准
3. 1D Camera Geometry and Its Application to the Self-Calibration of Circular Motion Sequences [J] . Wong K.-Y.K., Guoqiang Zhang, Chen Liang, IEEE Transactions on Pattern Analysis and Machine Intelligence . 2008,第12期

机译：一维相机几何结构及其在圆周运动序列自校准中的应用
4. Active self-calibration of hand cameras and hand-eye relationships with motion planning [C] . Wei, G.-Q., Arbter, Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on . 1997

机译：主动对摄像机进行自我校准以及通过运动计划进行手眼关系
5. Activity based geometry independent features for information processing in heterogeneous camera networks. [D] . Ermis, Erhan Baki. 2010

机译：基于活动的几何独立功能，用于异构相机网络中的信息处理。
6. Human Body Mixed Motion Pattern Recognition Method Based on Multi-Source Feature Parameter Fusion [O] . Jiyuan Song, Aibin Zhu, Yao Tu, 2020

机译：基于多源特征参数融合的人体混合运动模式识别方法
7. 1D camera geometry and its application to the self-calibration of circular motion sequences [O] . Zhang G, Wong KYK, Liang C, 2008

机译：1D摄像机几何及其在圆周运动序列自校准中的应用

Effective self-calibration for camera parameters and hand-eye geometry based on two feature points motions

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