Solving the Robot-World/Hand-Eye Calibration Problem Using the Kronecker Product-Reference-Cited by-同舟云学术

Solving the Robot-World/Hand-Eye Calibration Problem Using the Kronecker Product

Published:2013-06-24 Issue:3 Volume:5 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Shah Mili¹

Affiliation:

1. Department of Mathematics and Statistics at Loyola University Maryland, 4501 North Charles Street, Baltimore, MD 21210; Intelligent Systems Division at National Institute of Standards and Technology (NIST), 100 Bureau Drive, Gaithersburg, MD 20899 e-mail:

Abstract

This paper constructs a separable closed-form solution to the robot-world/hand-eye calibration problem AX = YB. Qualifications and properties that determine the uniqueness of X and Y as well as error metrics that measure the accuracy of a given X and Y are given. The formulation of the solution involves the Kronecker product and the singular value decomposition. The method is compared with existing solutions on simulated data and real data. It is shown that the Kronecker method that is presented in this paper is a reliable and accurate method for solving the robot-world/hand-eye calibration problem.

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4024473/6375575/jmr_005_03_031007.pdf

Reference26 articles.

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2. Strobl, K., and Hirzinger, G., 2006, “Optimal Hand-Eye Calibration,” IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4647–4653.

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