NDLI: A new identification Jacobian for robotic hand/eye calibration

Content Provider	IEEE Xplore Digital Library
Author	Hanqi Zhuang Zhihua Qu
Copyright Year	1971
Abstract	Hand/eye calibration is the process of identifying the unknown position and orientation of the camera frame with respect to the robot hand frame, when the camera is rigidly mounted on the robot hand. While computationally slightly more involved, one-stage iterative algorithms have two distinguished advantages over traditional two-stage linear approaches: 1) they are less sensitive to noise, and 2) they can handle cases in which the camera orientation information is not available. A more compact and lower dimensional identification Jacobian is derived. The Jacobian, which relates measurement residuals to pose error parameters of the unknown hand/eye transformation, is a crucial component of one-stage iterative algorithms. The derivation procedure for the new Jacobian is straightforward and simple, owing to an alternative mathematical formulation of the hand/eye calibration problem. Observability conditions of the pose error parameters in the unknown hand/eye transformation are also provided based on this identification Jacobian.<>
Starting Page	1284
Ending Page	1287
Page Count	4
File Size	392160
File Format	PDF
ISSN	00189472
Volume Number	24
Issue Number	8
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-08-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Jacobian matrices Calibration Robot kinematics Robot vision systems Cameras Robot sensing systems Cybernetics Fuzzy set theory Fuzzy systems Pattern recognition
Content Type	Text
Resource Type	Article
Subject	Engineering

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