基于非最小化优化的手眼标定方法

doi:10.6040/j.issn.1672-3961.0.2015.319

山东大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (4): 28-33.doi: 10.6040/j.issn.1672-3961.0.2015.319

基于非最小化优化的手眼标定方法

赵子健,陈兆瑞,李冰清

山东大学控制科学与工程学院, 山东济南 250061

收稿日期:2015-10-07 出版日期:2016-08-20 发布日期:2015-10-07
作者简介:赵子健(1979— ),男,山东济南人,讲师,博士,主要研究方向为机器人和计算机视觉. E-mail:zhaozijian@sdu.edu.cn
基金资助:
山东省优秀中青年科学家奖励研究基金资助项目(BS2013DX027);教育部博士点基金资助项目(20130131120036);国家自然科学基金资助项目(81401543);山东省科技重大专项(新兴产业)资助项目(2015ZDXX0801A01);山东大学基本科研业务费资助项目(自然科学专项)(2015QY001)

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

ZHAO Zijian, CHEN Zhaorui, LI Bingqing

School of Control Science and Engineering, Shandong Unieversity, Jinan 250061, Shandong, China

Received:2015-10-07 Online:2016-08-20 Published:2015-10-07

摘要/Abstract

摘要： 在分析手眼标定问题数值特征的基础上,提出一种新的基于非最小化优化的手眼标定方法。采用张量的形式描述手眼标定方程,提出了非最小化优化条件下的代价函数,通过特征计算求解相应估计方程。扰动分析证明了该方法求解的精确性。分别采用仿真数据和真实数据进行试验。试验结果显示,该方法能够通过无初值的计算实现手眼方程的求解,避免了优化迭代产生的复杂计算,具有较高的鲁棒性、有效性和天然的运动选择特性。与其他方法相比较,新方法大大节省了运算时间,并降低了计算误差,为机器人系统的实际标定提供一个很好的选择。

关键词: 非最小化优化, 计算机视觉, 视觉伺服, 机器人学, 手眼标定

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

中图分类号:

TP242

赵子健,陈兆瑞,李冰清. 基于非最小化优化的手眼标定方法[J]. 山东大学学报(工学版), 2016, 46(4): 28-33.

ZHAO Zijian, CHEN Zhaorui, LI Bingqing. A new method for hand-eye calibration based on non-minimization optimization[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2016, 46(4): 28-33.

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基于非最小化优化的手眼标定方法

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

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