JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2016, Vol. 46 ›› Issue (4): 28-33.doi: 10.6040/j.issn.1672-3961.0.2015.319

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A new method for hand-eye calibration based on non-minimization optimization

ZHAO Zijian, CHEN Zhaorui, LI Bingqing   

  1. School of Control Science and Engineering, Shandong Unieversity, Jinan 250061, Shandong, China
  • Received:2015-10-07 Online:2016-08-20 Published:2015-10-07

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Abstract: A novel hand-eye calibration method using non-minimization optimization was proposed based on the numerical analysis of hand-eye calibration problem. The hand-eye equation was described in the form of tensor, the cost function of non-minization optimization was proposed, and the corresponding estimation equation was solved by eign-computation. The perturbation analysis proved the accuracy of our method. In order to test our method, the experiments with both simulated and real data were performed. The experimental results showed that the proposed method avoided the iterative computation with starting values and had great robustness and validity. The motion selection was naturally matched with our method. Compared with other methods, the proposed method saved the computation time, reduced the computing errors, and could be regarded as a good option for real applications.

Key words: hand-eye calibration, robotics, computer vision, non-minimization optimization, visual servoing

CLC Number: 

  • TP242
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