杨广林, 孔令富, 王洁. 一种新的机器人手眼关系标定方法[J]. 机器人, 2006, 28(4): 400-405..
YANG Guang-lin, KONG Ling-fu, WANG Jie. A New Calibration Approach to Hand-Eye Relation of Manipulator. ROBOT, 2006, 28(4): 400-405..
Abstract：We present a new hand-eye calibration method on the basis of controlling motion of manipulator mounted with a camera.Different from other algorithms,this method utilizes nominal rotation for camera coordinate to make rotation transform into translation.The algorithm needs the manipulator to execute two translation motions and a rotation motion,and requires only two feature points in the scene.The algorithm is both convenient and practical in application.At the same time we also present an active-vision-based calculational method for depth value of points in the scene.
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