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A flexible method combining camera calibration and hand–eye calibration

Published online by Cambridge University Press:  01 February 2013

Zijian Zhao  and
Ying Weng
Zijian Zhao*
Affiliation:
School of Control Science and Engineering, Shandong University, Jinan 250061, China
Ying Weng
Affiliation:
School of Computer Science, Bangor University, Bangor LL57 1UT, UK
*
*Corresponding author. E-mail: zhaozijian@sdu.edu.cn
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Summary

We consider the conventional techniques of vision robot system calibration where camera parameters and robot hand–eye parameters are computed separately, i.e., first performing camera calibration and then carrying out hand–eye calibration based on the calibrated parameters of cameras. In this paper we propose a joint algorithm that combines the camera calibration and the hand–eye calibration together. The proposed algorithm gives the solutions of the cameras' parameters and the hand–eye parameters simultaneously by using nonlinear optimization. Both simulations and real experiments show the superiority of our algorithm. We also apply our algorithm in the real application of the robot-assisted surgical system, and very good results have been obtained.

Keywords

Camera calibrationHand–eye calibrationRobot systemHomographyFactorization

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Type
Articles
Information
Robotica , Volume 31 , Issue 5 , August 2013 , pp. 747 - 756
Copyright
Copyright © Cambridge University Press 2013 

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