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  • This paper presents a novel method for so-called hand-eye calibration. Using a calibration target is not possible for many applications of hand-eye calibration. In such situations Structure-from-Motion approach of hand-eye calibration is commonly used to recover the camera poses up to scaling. The presented method takes advantage of recent results in the L_infty-norm optimization using Second-Order Cone Programming (SOCP) to recover the correct scale. Further, the correctly scaled displacement of the hand-eye transformation is recovered solely from the image correspondences and robot measurements, and is guaranteed to be globally optimal with respect to the L_infty-norm. The method is experimentally validated using both synthetic and real world datasets.
  • This paper presents a novel method for so-called hand-eye calibration. Using a calibration target is not possible for many applications of hand-eye calibration. In such situations Structure-from-Motion approach of hand-eye calibration is commonly used to recover the camera poses up to scaling. The presented method takes advantage of recent results in the L_infty-norm optimization using Second-Order Cone Programming (SOCP) to recover the correct scale. Further, the correctly scaled displacement of the hand-eye transformation is recovered solely from the image correspondences and robot measurements, and is guaranteed to be globally optimal with respect to the L_infty-norm. The method is experimentally validated using both synthetic and real world datasets. (en)
Title
  • Structure-from-Motion Based Hand-Eye Calibration Using L-infty Minimization
  • Structure-from-Motion Based Hand-Eye Calibration Using L-infty Minimization (en)
skos:prefLabel
  • Structure-from-Motion Based Hand-Eye Calibration Using L-infty Minimization
  • Structure-from-Motion Based Hand-Eye Calibration Using L-infty Minimization (en)
skos:notation
  • RIV/68407700:21230/10:00179831!RIV11-MSM-21230___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(7E09062), R, S
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 290526
http://linked.open...ai/riv/idVysledku
  • RIV/68407700:21230/10:00179831
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • hand-eye calibration; structure from motion (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [DDFC637D0134]
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Heller, Jan
  • Pajdla, Tomáš
  • Havlena, Michal
  • Sugimoto, A.
http://localhost/t...ganizacniJednotka
  • 21230
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