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Six DOF Eye-to-Hand Calibration from 2D Measurements Using Planar Constraints

Bagge Carlson, Fredrik LU ; Johansson, Rolf LU and Robertsson, Anders LU (2015) IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015 In [Host publication title missing] p.3628-3632
Abstract
This article presents a linear, iterative method to solve the eye-to-hand calibration problem between a wrist-mounted laser scanner and the tool flange of a robot. Measurement data are acquired from a set of non parallel planes whereafter the plane equations and desired rigid transformation matrix are found in a two-step, iterative fashion. The method is shown to handle large error in the initial estimate of the transform and results are verified in both simulations and experiments using a seam tracking laser sensor for welding applications.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
calibration, laser scanner, eye to hand, eye in hand, kinematic calibration
in
[Host publication title missing]
editor
Knoll, Alois
pages
5 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015
external identifiers
  • Scopus:84958168429
project
Flexifab
language
English
LU publication?
yes
id
91494b4c-bebb-470f-bf9d-a888f23d971e (old id 7613773)
date added to LUP
2015-08-03 09:18:25
date last changed
2016-10-13 04:40:08
@misc{91494b4c-bebb-470f-bf9d-a888f23d971e,
  abstract     = {This article presents a linear, iterative method to solve the eye-to-hand calibration problem between a wrist-mounted laser scanner and the tool flange of a robot. Measurement data are acquired from a set of non parallel planes whereafter the plane equations and desired rigid transformation matrix are found in a two-step, iterative fashion. The method is shown to handle large error in the initial estimate of the transform and results are verified in both simulations and experiments using a seam tracking laser sensor for welding applications.},
  author       = {Bagge Carlson, Fredrik and Johansson, Rolf and Robertsson, Anders},
  editor       = {Knoll, Alois},
  keyword      = {calibration,laser scanner,eye to hand,eye in hand,kinematic calibration},
  language     = {eng},
  pages        = {3628--3632},
  publisher    = {ARRAY(0x909ca30)},
  series       = {[Host publication title missing]},
  title        = {Six DOF Eye-to-Hand Calibration from 2D Measurements Using Planar Constraints},
  year         = {2015},
}