Dual Quaternion Application to Kinematic Calibration of Wrist-Mounted Camera

Dongmin Kim

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Dual Quaternion Application to Kinematic Calibration of Wrist-Mounted Camera

机译：四元数系统在腕式摄像机运动学标定中的应用

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This article is concerned with kinematic calibration issues arising from a wrist mounted camera: the so-called hand-eye kinematic calibration problem. Dual quaternions are used for the parameterization of the rigid transformation. A simple method is derived to obtain a closed form solution to the problem. Also a fine calibration technique using the gradient descent method is discussed in the presence of measurement noise.

机译：本文关注的是腕式摄像机引起的运动学校准问题：所谓的手眼运动学校准问题。对偶四元数用于刚性变换的参数化。推导了一种简单的方法来获得该问题的封闭式解决方案。此外，在存在测量噪声的情况下，还讨论了使用梯度下降法的精细校准技术。

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《Journal of robotic systems》 |1996年第3期|p.153-162|共10页
作者
Dongmin Kim;
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作者单位

Artificial Intelligence Laboratory Department of Electrical Engineering and Computer Science The University of Michigan Ann Arbor, MI 48109;

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正文语种 eng
中图分类机器人技术;
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Dual Quaternion Application to Kinematic Calibration of Wrist-Mounted Camera

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