A New Identification Jacobian For Robotic Hand Eye Calibration

    Authors

    H. Q. Zhuang;Z. H. Qu

    Comments

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    Abbreviated Journal Title

    IEEE Trans. Syst. Man Cybern.

    Keywords

    HOMOGENEOUS TRANSFORM EQUATIONS; AX = XB; SENSOR; ORIENTATION; Computer Science, Cybernetics; Engineering, Electrical & Electronic

    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: (a) They are less sensitive to noise, and (b) they can handle cases in which the camera orientation information is not available. A more compact and lower dimensional Identification Jacobian is derived in this correspondence. 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.

    Journal Title

    Ieee Transactions on Systems Man and Cybernetics

    Volume

    24

    Issue/Number

    8

    Publication Date

    1-1-1995

    Document Type

    Letter

    Language

    English

    First Page

    1284

    Last Page

    1287

    WOS Identifier

    WOS:A1994PB47400017

    ISSN

    0018-9472

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