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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F14%3A00223253%21RIV15-TA0-21230___
rdf:type
skos:Concept n9:Vysledek
dcterms: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.
dcterms:title
Hand-eye and robot-world calibration by global polynomial optimization Hand-eye and robot-world calibration by global polynomial optimization
skos:prefLabel
Hand-eye and robot-world calibration by global polynomial optimization Hand-eye and robot-world calibration by global polynomial optimization
skos:notation
RIV/68407700:21230/14:00223253!RIV15-TA0-21230___
n3:aktivita
n14:P
n3:aktivity
P(TA03010398)
n3:dodaniDat
n12:2015
n3:domaciTvurceVysledku
n4:6245269 n4:4872029
n3:druhVysledku
n17:D
n3:duvernostUdaju
n6:S
n3:entitaPredkladatele
n13:predkladatel
n3:idSjednocenehoVysledku
18751
n3:idVysledku
RIV/68407700:21230/14:00223253
n3:jazykVysledku
n19:eng
n3: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
n3:klicoveSlovo
n7:end-effector n7:camera n7:poly%20nomials n7:end%20effectors n7:LMI%20relaxations n7:linear%20matrix%20inequalities n7:global%20polynomial%20optimization n7:convex%20programming n7:convex%20linear%20matrix%20inequality n7:coordinate%20system n7:calibration n7:cameras n7:hand-eye%20calibration
n3:kontrolniKodProRIV
[4F7C76981ABE]
n3:mistoKonaniAkce
Hong Kong
n3:mistoVydani
Piscataway
n3:nazevZdroje
Robotics and Automation (ICRA), 2014 IEEE International Conference on
n3:obor
n22:JD
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
3
n3:projekt
n20:TA03010398
n3:rokUplatneniVysledku
n12:2014
n3:tvurceVysledku
Heller, Jan Henrion, D. Pajdla, Tomáš
n3:typAkce
n15:WRD
n3:zahajeniAkce
2014-05-31+02:00
s:numberOfPages
8
n16:doi
10.1109/ICRA.2014.6907313
n11:hasPublisher
IEEE
n21:isbn
978-1-4799-3684-7
n8:organizacniJednotka
21230