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CLC number: TP242.62

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Received: 2008-04-25

Revision Accepted: 2008-08-06

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Journal of Zhejiang University SCIENCE A 2008 Vol.9 No.10 P.1363~1368

http://doi.org/10.1631/jzus.A0820318


Hand-eye calibration with a new linear decomposition algorithm


Author(s):  Rong-hua LIANG, Jian-fei MAO

Affiliation(s):  College of Information Engineering, Zhejiang University of Technology, Hangzhou 310032, China

Corresponding email(s):   rhliang@zjut.edu.cn

Key Words:  Homogeneous transformation equation, Singular value decomposition (SVD), Optimal rotation matrix, Rigid transformations


Rong-hua LIANG, Jian-fei MAO. Hand-eye calibration with a new linear decomposition algorithm[J]. Journal of Zhejiang University Science A, 2008, 9(10): 1363~1368.

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author="Rong-hua LIANG, Jian-fei MAO",
journal="Journal of Zhejiang University Science A",
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year="2008",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A0820318"
}

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%J Journal of Zhejiang University SCIENCE A
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%DOI 10.1631/jzus.A0820318

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T1 - Hand-eye calibration with a new linear decomposition algorithm
A1 - Rong-hua LIANG
A1 - Jian-fei MAO
J0 - Journal of Zhejiang University Science A
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.A0820318


Abstract: 
To solve the homogeneous transformation equation of the form AX=XB in hand-eye calibration, where X represents an unknown transformation from the camera to the robot hand, and A and B denote the known movement transformations associated with the robot hand and the camera, respectively, this paper introduces a new linear decomposition algorithm which consists of singular value decomposition followed by the estimation of the optimal rotation matrix and the least squares equation to solve the rotation matrix of X. Without the requirements of traditional methods that A and B be rigid transformations with the same rotation angle, it enables the extension to non-rigid transformations for A and B. The details of our method are given, together with a short discussion of experimental results, showing that more precision and robustness can be achieved.

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Reference

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[2] Fassi, I., Legnani, G., 2005. Hand to sensor calibration: a geometrical interpretation of the matrix equation AX=XB. J. Rob. Syst., 22(9):497-506.

[3] Park, F.C., Martin, B.J., 1994. Robot sensor calibration: solving AX=XB on the Euclidean group. IEEE Trans. on Rob. Autom., 10(5):717-721.

[4] Shiu, Y.C., Ahmad, S., 1989. Calibration of wrist-mounted robotics sensors by solving homogeneous transform equations of the form AX=XB. IEEE Trans. on Rob. Autom., 5(1):16-27.

[5] Tsai, R., Lenz, R., 1989. A new technique for fully autonomous and efficient 3D robotics hand/eye calibration. IEEE Trans. on Rob. Autom., 5(3):345-358.

[6] Zhang, Z.Y., 2000. A flexible new technique for camera calibration. IEEE Trans. on Pattern Anal. Machine Intell., 22(11):1330-1334.

[7] Zhao, Z., Liu, Y., 2006. Hand-eye Calibration Based on Screw Motions. 18th Int. Conf. on Pattern Recognition, p.1022-1026.

[8] Zhuang, H., 1998. Hand/eye calibration for electronic assembly robots. IEEE Trans. on Rob. Autom., 14(4):612-616.

[9] Zhuang, H., Roth, Z.S., 1991. Comments on “Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB”. IEEE Trans. on Rob. Autom., 7(6):877-878.

[10] Zhuang, H., Roth, Z.S., 1995. Simultaneous calibration of a robot and a hand-mounted camera. IEEE Trans. on Rob. Autom., 11(5):649-660.

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