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

Previous Articles     Next Articles

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

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
[1] SHIU Y C, AHMAD S. Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB[J]. IEEE Transactions on Robotics and Automation, 1989, 5(1):16-29.
[2] TSAI R Y, LENZ R K. A new technique for fully autonomous and efficient 3D robotics hand/eye calibration[J].IEEE Transactions on Robotics and Automation, 1989, 5(3):345-358.
[3] CHOU J C K, KAMEL M. Finding the position and orientation of a sensor on a robot manipulator using quaternions[J]. The International Journal of Robotics Research, 1991, 10(3):240-254.
[4] LU Y C, CHOU J C K. Eight-space quaternion approach for robotic hand-eye calibration[C] //Proceedings of IEEE International Conference on Systems, Man and Cybernetics. BC: IEEE, 1995, 4:3316-3321.
[5] CHEN H H. A screw motion approach to uniqueness analysis of head-eye geometry[C] //Proceedings of IEEE Conference on Computer Vision and Pattern Recognition(CVPR91). Maui, HI: IEEE, 1991:145-151.
[6] DANIILIDIS K. Hand-eye calibration using dual quaternions[J]. The International Journal of Robotics Research, 1999, 18(3):286-298.
[7] ZHAO Z, LIU Y. A hand-eye calibration algorithm based on screw motions[J]. Robotica, 2009, 27(2):217-223.
[8] ZHUANG H, Shiu Y C. A noise-tolerant algorithm for robotic hand-eye calibration with or without sensor orientation measurement[J]. IEEE Transactions on Systems, Man and Cybernetics, 1993, 23(4):1168-1175.
[9] FA I, LEGNANI G. Hand to sensor calibration: a geometrical interpretation of the matrix equation AX=XB[J]. Journal of Robotic Systems, 2005, 22(9):497-506.
[10] PARK F C, MARTIN B J. Robot sensor calibration: solving AX=XB on the Euclidean group[J]. IEEE Transactions on Robotics and Automation, 1994, 10(5):717-721.
[11] HORAUD R, DORNAIKA F. Hand-eye calibration[J]. The International Journal of Robotics Research, 1995, 14(3):195-210.
[12] DORNAIKA F, HORAUD R. Simultaneous robot-world and hand-eye calibration[J]. IEEE Transactions on Robotics and Automation, 1998, 14(4): 617-622.
[13] STROBL K H, HIRZINGER G. Optimal hand-eye calibration[C] //Proceedings of IEEE/RSJ Conference on Intelligent Robots and Systems. Beijing, China: IEEE, 2006: 4647-4653.
[14] ZHAO Z. Hand-eye calibration using convex optimization[C] //Proceedings of IEEE International Conference on Robotics and Automation(ICRA 2011). Shanghai, China: IEEE, 2011: 2947-2952.
[15] IKEUCHI K. Computer vision: a reference guide[M]. Berlin, Germany: Springer Link Press, 2016:355-358.
[16] RUKAND T, DIETMAYER K. Globally optimal hand-eye calibration under free choice of cost-function[C] //Proceedings of IEEE International Conference on Consumer Electronics.Berlin, Germany: IEEE, 2012: 1-5.
[17] HELLER J, HENRION D, PAIDLA T. Hand-eye and robot-world calibration by global polynomial optimization[C] //Proceedings of IEEE International Conference on Robotics and Automation(ICRA 2014). Hong Kong, China: IEEE, 2014: 3157-3164.
[18] HELLER J, HENRION D, PAIDLA T. Globally optimal hand-eye calibration using branch-and-bound[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2015(1): 1.
[19] KANATANI K. Statistical optimization for geometric estimation: minimization vs. non-minimization[C] //Proceedings of IEEE International Conference on Pattern Recognition. Stockholm, Sweden: IEEE, 2014: 1-8.
[20] NEUDECKER H. A note on Kronecker matrix products and matrix equation systems[J]. SIAM Journal on Applied Mathematics, 1969, 17(3): 603-606.
[21] ANDREFF N, HORAUD R, ESPIAU B. On-line hand-eye calibration[C] //Proceedings of 2nd International Conference on 3-D Digital Imaging and Modeling. Ottawa, Canada:IEEE, 1999: 430-436.
[22] SCHMIDT J, NIEMANN H. Data selection for hand-eye calibration: a vector quantization approach[J]. The International Journal of Robotics Research, 2008, 27(9): 1027-1053.
[23] ZHANG Z. A flexible new technique for camera calibration[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2000, 22(11): 1330-1334.
[24] IGEL C, TOUSSAINT M, WAN W. Rprop using the natural gradient[M] //Trends and applications in constructive approximation. Boston, U S A: Birkhäuser Basel, 2005: 259-272.
[25] NESTEROV Y, NEMIROVSKII A, YE Y. Interior-point polynomial algorithms in convex programming[M]. Philadelphia, U S A: Society for Industrial and Applied Mathematics, 1994.
[1] YANG Yuanhui, LI Guodong, WU Chunfu, WANG Xiaolong, CAI Xiaowei. Hand-eye calibration and visual servo control for mobile manipulator [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2016, 46(5): 54-63.
[2] TIAN Guohui, XU Yaxiong. Cloud robotics: concept, architectures and key technologies [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2014, 44(6): 47-54.
[3] LI Guo-dong, ZHAO Wei, TIAN Guo-hui*, XUE Ying-hua. A visual servoing algorithm based on rotation matrix decomposition [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2012, 42(1): 45-50.
[4] CONG Kui-Rong, HAN Jie, CHANG Fa-Liang. Goods contour detection and positioning by a vision robot [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2010, 40(1): 15-18.
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
[1] LI Ke,LIU Chang-chun,LI Tong-lei . Medical registration approach using improved maximization of mutual information[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 107 -110 .
[2] YUE Yuan-Zheng. Relaxation in glasses far from equilibrium[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(5): 1 -20 .
[3] CHENG Daizhan, LI Zhiqiang. A survey on linearization of nonlinear systems[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(2): 26 -36 .
[4] WANG Yong, XIE Yudong. Gas control technology of largeflow pipe[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(2): 70 -74 .
[5] LIU Xin 1, SONG Sili 1, WANG Xinhong 2. [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(2): 98 -100 .
[6] . [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(2): 104 -107 .
[7] CHEN Huaxin, CHEN Shuanfa, WANG Binggang. The aging behavior and mechanism of base asphalts[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(2): 125 -130 .
[8] . [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(2): 131 -136 .
[9] LI Shijin, WANG Shengte, HUANG Leping. Change detection with remote sensing images based on forward-backward heterogenicity[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(3): 1 -9 .
[10] ZHAO Ke-Jun, WANG Xin-Jun, LIU Xiang, CHOU Yi-Hong. Algorithms of continuous top-k join query over structured overlay networks[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(5): 32 -37 .