About: Hand-eye and robot-world calibration by global polynomial optimization     Goto   Sponge   NotDistinct   Permalink

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Description
  • The need to relate measurements made by a camera to a different known coordinate syste m arises in many engineering applications. Historically, it appeared for the first time in the connection with cameras mounted on robotic systems. This problem is commonly known as hand-ey e calibration. In this paper, we present several formulations of hand-eye calibration that lea d to multivariate polynomial optimization problems. We show that the method of convex linear m atrix inequality (LMI) relaxations can be used to effectively solve these problems and to obta in globally optimal solutions. Further, we show that the same approach can be used for the sim ultaneous hand-eye and robot-world calibration. Finally, we validate the proposed solutions us ing both synthetic and real datasets.
  • The need to relate measurements made by a camera to a different known coordinate syste m arises in many engineering applications. Historically, it appeared for the first time in the connection with cameras mounted on robotic systems. This problem is commonly known as hand-ey e calibration. In this paper, we present several formulations of hand-eye calibration that lea d to multivariate polynomial optimization problems. We show that the method of convex linear m atrix inequality (LMI) relaxations can be used to effectively solve these problems and to obta in globally optimal solutions. Further, we show that the same approach can be used for the sim ultaneous hand-eye and robot-world calibration. Finally, we validate the proposed solutions us ing both synthetic and real datasets. (en)
Title
  • Hand-eye and robot-world calibration by global polynomial optimization
  • Hand-eye and robot-world calibration by global polynomial optimization (en)
skos:prefLabel
  • Hand-eye and robot-world calibration by global polynomial optimization
  • Hand-eye and robot-world calibration by global polynomial optimization (en)
skos:notation
  • RIV/68407700:21230/14:00223253!RIV15-TA0-21230___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(TA03010398)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
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http://linked.open...iv/duvernostUdaju
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  • 18751
http://linked.open...ai/riv/idVysledku
  • RIV/68407700:21230/14:00223253
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • calibration; cameras; convex programming; end effectors; linear matrix inequalities; poly nomials; LMI relaxations; camera; convex linear matrix inequality; coordinate system; end-effector; global polynomial optimization; hand-eye calibration (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [4F7C76981ABE]
http://linked.open...v/mistoKonaniAkce
  • Hong Kong
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  • Piscataway
http://linked.open...i/riv/nazevZdroje
  • Robotics and Automation (ICRA), 2014 IEEE International Conference on
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http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
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  • Heller, Jan
  • Pajdla, Tomáš
  • Henrion, D.
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
number of pages
http://bibframe.org/vocab/doi
  • 10.1109/ICRA.2014.6907313
http://purl.org/ne...btex#hasPublisher
  • IEEE
https://schema.org/isbn
  • 978-1-4799-3684-7
http://localhost/t...ganizacniJednotka
  • 21230
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