About: Hand-Eye Calibration without Hand Orientation Measurement Using Minimal Solution

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	In this paper we solve the problem of estimating the relative pose between a robot's gripper and a camera mounted rigidly on the gripper in situations where the rotation of the gripper w.r.t. the robot global coordinate system is not known. It is a variation of the so called hand-eye calibration problem. We formulate it as a problem of seven equations in seven unknowns and solve it using the Gröobner basis method for solving systems of polynomial equations. This enables us to calibrate from the minimal number of two relative movements and to provide the first exact algebraic solution to the problem. Further, we describe a method for selecting the geometrically correct solution among the algebraically correct ones computed by the solver. In contrast to the previous iterative methods, our solution works without any initial estimate and has no problems with error accumulation. Finally, by evaluating our algorithm on both synthetic and real scene data we demonstrate that it is fast, noise resistant, and numerically stable. In this paper we solve the problem of estimating the relative pose between a robot's gripper and a camera mounted rigidly on the gripper in situations where the rotation of the gripper w.r.t. the robot global coordinate system is not known. It is a variation of the so called hand-eye calibration problem. We formulate it as a problem of seven equations in seven unknowns and solve it using the Gröobner basis method for solving systems of polynomial equations. This enables us to calibrate from the minimal number of two relative movements and to provide the first exact algebraic solution to the problem. Further, we describe a method for selecting the geometrically correct solution among the algebraically correct ones computed by the solver. In contrast to the previous iterative methods, our solution works without any initial estimate and has no problems with error accumulation. Finally, by evaluating our algorithm on both synthetic and real scene data we demonstrate that it is fast, noise resistant, and numerically stable. (en)
Title	Hand-Eye Calibration without Hand Orientation Measurement Using Minimal Solution Hand-Eye Calibration without Hand Orientation Measurement Using Minimal Solution (en)
skos:prefLabel	Hand-Eye Calibration without Hand Orientation Measurement Using Minimal Solution Hand-Eye Calibration without Hand Orientation Measurement Using Minimal Solution (en)
skos:notation	RIV/68407700:21230/13:00212525!RIV14-MSM-21230___
http://linked.open...avai/predkladatel	Fakulta elektrotechnická
http://linked.open...avai/riv/aktivita	P S
http://linked.open...avai/riv/aktivity	P(7E13018), S
http://linked.open...vai/riv/dodaniDat	2014
http://linked.open...aciTvurceVysledku	Pajdla, Tomáš Heller, Jan Kúkelová, Zuzana
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	77028
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/13:00212525
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	hand-eye calibration; robot calibration; Gröobner basis; minimal problems (en)
http://linked.open.../riv/klicoveSlovo	hand-eye calibration minimal problems Gröobner basis robot calibration
http://linked.open...ontrolniKodProRIV	[5A65F2B94559]
http://linked.open...v/mistoKonaniAkce	Daejeon
http://linked.open...i/riv/mistoVydani	Heidelberg
http://linked.open...i/riv/nazevZdroje	Computer Vision - ACCV 2012, 11th Asian Conference on Computer Vision, Part 4
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...vavai/riv/projekt	Clothes Perception and Manipulation
http://linked.open...UplatneniVysledku	2013
http://linked.open...iv/tvurceVysledku	Heller, Jan Kúkelová, Zuzana Pajdla, Tomáš
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2013-11-05 (xsd:date)
issn	0302-9743
number of pages	14 (xsd:int)
http://bibframe.org/vocab/doi	10.1007/978-3-642-37447-0_44
http://purl.org/ne...btex#hasPublisher	Springer-Verlag
https://schema.org/isbn	978-3-642-37446-3
http://localhost/t...ganizacniJednotka	21230

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