3D Hand-Eye Calibration for Collaborative Robot Arm : Look at Robot Base Once
Li, Leihui ; Wan, Lixuepiao ; Krueger, Volker LU
and Zhang, Xuping
(2025)
22nd International Conference on Informatics in Control, Automation and Robotics, ICINCO 2025
2.
p.333-341
- Abstract
Hand-eye calibration is a common problem in the field of collaborative robotics, involving the determination of the transformation matrix between the visual sensor and the robot flange to enable vision-based robotic tasks. However, this process typically requires multiple movements of the robot arm and an external calibration object, making it both time-consuming and inconvenient, especially in scenarios where frequent recalibration is necessary. In this work, we extend our previous method which eliminates the need for external calibration objects such as a chessboard. We propose a generic dataset generation approach for point cloud registration, focusing on aligning the robot base point cloud with the scanned data. Furthermore, a more... (More)
Hand-eye calibration is a common problem in the field of collaborative robotics, involving the determination of the transformation matrix between the visual sensor and the robot flange to enable vision-based robotic tasks. However, this process typically requires multiple movements of the robot arm and an external calibration object, making it both time-consuming and inconvenient, especially in scenarios where frequent recalibration is necessary. In this work, we extend our previous method which eliminates the need for external calibration objects such as a chessboard. We propose a generic dataset generation approach for point cloud registration, focusing on aligning the robot base point cloud with the scanned data. Furthermore, a more detailed simulation study is conducted involving several different collaborative robot arms, followed by real-world experiments in an industrial setting. Our improved method is simulated and evaluated using a total of 14 robotic arms from 9 different brands, including KUKA, Universal Robots, UFACTORY, and Franka Emika, all of which are widely used in the field of collaborative robotics. Physical experiments demonstrate that our extended approach achieves performance comparable to existing commercial hand-eye calibration solutions, while completing the entire calibration procedure in just a few seconds.
(Less)
- author
- Li, Leihui
; Wan, Lixuepiao
; Krueger, Volker
LU
and Zhang, Xuping
- organization
- publishing date
- 2025
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- 3D Vision, Collaborative Robot, Hand-Eye Calibration, Robot Arm
- host publication
- Proceedings of the International Conference on Informatics in Control, Automation and Robotics
- volume
- 2
- pages
- 9 pages
- conference name
- 22nd International Conference on Informatics in Control, Automation and Robotics, ICINCO 2025
- conference location
- Marbella, Spain
- conference dates
- 2025-10-20 - 2025-10-22
- external identifiers
-
- scopus:105022135700
- DOI
- 10.5220/0013738500003982
- language
- English
- LU publication?
- yes
- id
- a0a7a610-1862-4e82-bd89-1e4401a00105
- date added to LUP
- 2026-02-09 15:50:34
- date last changed
- 2026-02-09 15:50:58
@inproceedings{a0a7a610-1862-4e82-bd89-1e4401a00105,
abstract = {{<p>Hand-eye calibration is a common problem in the field of collaborative robotics, involving the determination of the transformation matrix between the visual sensor and the robot flange to enable vision-based robotic tasks. However, this process typically requires multiple movements of the robot arm and an external calibration object, making it both time-consuming and inconvenient, especially in scenarios where frequent recalibration is necessary. In this work, we extend our previous method which eliminates the need for external calibration objects such as a chessboard. We propose a generic dataset generation approach for point cloud registration, focusing on aligning the robot base point cloud with the scanned data. Furthermore, a more detailed simulation study is conducted involving several different collaborative robot arms, followed by real-world experiments in an industrial setting. Our improved method is simulated and evaluated using a total of 14 robotic arms from 9 different brands, including KUKA, Universal Robots, UFACTORY, and Franka Emika, all of which are widely used in the field of collaborative robotics. Physical experiments demonstrate that our extended approach achieves performance comparable to existing commercial hand-eye calibration solutions, while completing the entire calibration procedure in just a few seconds.</p>}},
author = {{Li, Leihui and Wan, Lixuepiao and Krueger, Volker and Zhang, Xuping}},
booktitle = {{Proceedings of the International Conference on Informatics in Control, Automation and Robotics}},
keywords = {{3D Vision; Collaborative Robot; Hand-Eye Calibration; Robot Arm}},
language = {{eng}},
pages = {{333--341}},
title = {{3D Hand-Eye Calibration for Collaborative Robot Arm : Look at Robot Base Once}},
url = {{http://dx.doi.org/10.5220/0013738500003982}},
doi = {{10.5220/0013738500003982}},
volume = {{2}},
year = {{2025}},
}