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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F10%3A00179831%21RIV11-MSM-21230___
rdf:type
skos:Concept n13:Vysledek
dcterms:description
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.
dcterms:title
Structure-from-Motion Based Hand-Eye Calibration Using L-infty Minimization Structure-from-Motion Based Hand-Eye Calibration Using L-infty Minimization
skos:prefLabel
Structure-from-Motion Based Hand-Eye Calibration Using L-infty Minimization Structure-from-Motion Based Hand-Eye Calibration Using L-infty Minimization
skos:notation
RIV/68407700:21230/10:00179831!RIV11-MSM-21230___
n3:aktivita
n14:R n14:S n14:P
n3:aktivity
P(7E09062), R, S
n3:dodaniDat
n12:2011
n3:domaciTvurceVysledku
n8:4872029 n8:6245269 n8:5043476
n3:druhVysledku
n10:O
n3:duvernostUdaju
n6:S
n3:entitaPredkladatele
n4:predkladatel
n3:idSjednocenehoVysledku
290526
n3:idVysledku
RIV/68407700:21230/10:00179831
n3:jazykVysledku
n16:eng
n3:klicovaSlova
hand-eye calibration; structure from motion
n3:klicoveSlovo
n9:hand-eye%20calibration n9:structure%20from%20motion
n3:kontrolniKodProRIV
[DDFC637D0134]
n3:obor
n15:JD
n3:pocetDomacichTvurcuVysledku
3
n3:pocetTvurcuVysledku
4
n3:projekt
n17:7E09062
n3:rokUplatneniVysledku
n12:2010
n3:tvurceVysledku
Sugimoto, A. Heller, Jan Pajdla, Tomáš Havlena, Michal
n11:organizacniJednotka
21230