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Towards the embedding of on-line hand-eye calibration into visual servoing.
| Content Provider | CiteSeerX |
|---|---|
| Author | Andreff, Nicolas |
| Abstract | This work is related to the visual servoing of a robot hand-mounted camera. The control law of this robotic system exhibits the necessity of determining the position /orientation of a camera reference frame with respect to the control reference frame. The hand-eye calibration consists in the determination of this transformation (i.e. a rotation and a translation). We provide in this paper an on-line calibration method in two stages: first, an initial estimation is computed with two self-calibration movements, then the estimated hand-eye transformation is updated using the controlled motions of the robot. As the latter generate low amplitude rotations, the classical formulations are not efficient any more. The homogeneous matrix equation AX=XB appearing in usual approaches is therefore reformulated into a linear system and used as a basis of a Kalman filter which is to be run in parallel with the visual servoing. Preliminary simulation results were obtained and show the good behaviour o... |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Visual Servoing On-line Hand-eye Calibration Controlled Motion Control Law Camera Reference Frame Control Reference Frame Hand-eye Transformation Self-calibration Movement Linear System Latter Generate Low Amplitude Rotation Robotic System On-line Calibration Method Robot Hand-mounted Camera Usual Approach Homogeneous Matrix Equation Ax Xb Hand-eye Calibration Initial Estimation Kalman Filter Preliminary Simulation Result Good Behaviour Classical Formulation Position Orientation |
| Content Type | Text |
| Resource Type | Article |
