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

Bagge Carlson, Fredrik LU ; Johansson, Rolf LU orcid and Robertsson, Anders LU (2015) IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015 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
; and
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
host publication
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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
conference location
Hamburg, Germany
conference dates
2015-09-28 - 2015-10-02
external identifiers
  • scopus:84958168429
DOI
10.1109/IROS.2015.7353884
project
Flexifab
RobotLab LTH
language
English
LU publication?
yes
id
91494b4c-bebb-470f-bf9d-a888f23d971e (old id 7613773)
date added to LUP
2016-04-04 10:27:08
date last changed
2023-03-21 03:07:34
@inproceedings{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}},
  booktitle    = {{2015 IEEE/RSJ International Conference on  Intelligent Robots and Systems (IROS)}},
  editor       = {{Knoll, Alois}},
  keywords     = {{calibration; laser scanner; eye to hand; eye in hand; kinematic calibration}},
  language     = {{eng}},
  pages        = {{3628--3632}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Six DOF Eye-to-Hand Calibration from 2D Measurements Using Planar Constraints}},
  url          = {{https://lup.lub.lu.se/search/files/5542282/7766049.pdf}},
  doi          = {{10.1109/IROS.2015.7353884}},
  year         = {{2015}},
}