ICRA 2011 Paper Abstract

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Paper WeA114.4

Zhao, Zijian (GMCAO-TIMC-IMAG)

Hand-Eye Calibration Using Convex Optimization

Scheduled for presentation during the Regular Sessions "Computer Vision for Robotics and Automation I" (WeA114), Wednesday, May 11, 2011, 09:05−09:20, Room 5J

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 10, 2019

Keywords Computer Vision for Robotics and Automation, Medical Robots and Systems

Abstract

Hand-eye calibration is a very important task in robotics. Many algorithms have been proposed for it, but they almost apply the L_{2} optimization, which is usually in the form of nonlinear optimization. In this paper, we propose new hand-eye calibration algorithms using convex optimization, and it can be solved in the form of a global linear optimization without starting values. Experiments with both simulated and real data are performed to test our algorithms. The experimental results show the robustness and validity of our algorithms. Considering both the computing errors and the time consuming, our algorithm based on quaternions is a good option for real applications.

 

 

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