Hand-Eye Calibration Method for Manipulator and RGB-D Camera Using 3D-Printed Ball
DU Huibin1,2, SONG Guoli1, ZHAO Yiwen1, HAN Jianda1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China
杜惠斌, 宋国立, 赵忆文, 韩建达. 利用3D打印标定球的机械臂与RGB-D相机手眼标定方法[J]. 机器人, 2018, 40(6): 835-842.DOI: 10.13973/j.cnki.robot.170642.
DU Huibin, SONG Guoli, ZHAO Yiwen, HAN Jianda. Hand-Eye Calibration Method for Manipulator and RGB-D Camera Using 3D-Printed Ball. ROBOT, 2018, 40(6): 835-842. DOI: 10.13973/j.cnki.robot.170642.
Abstract:Traditional hand-eye calibration methods are practically inappropriate for RGB-D cameras, because that the RGB optical center and the depth optical center are not in the same location, and the depth-image is of poor measuring accuracy, low resolution, and no RGB or texture information. A hand-eye calibration method for robotic manipulator and RGB-D cameras using a simple low-cost 3D-printed ball as the calibration object is proposed. Only 3D position measurements of the calibration object are used, which avoids the inconvenience and inaccuracy of orientation measurements. A closed-form solution and an iterative optimal solution are formulated. Results of 100 simulations suggest that the calibration accuracy depends on the measuring accuracy of the RGB-D camera itself, the closed-form solution does not need time alignment between the manipulator and the RGB-D camera, and the calibration accuracy of the iterative optimal solution improves a little bit, while the maximum and variance errors are very stable. Finally, 7-DOF KUKA ⅡWA robot and the Kinect sensor are used to perform hand-eye calibration experiments, and the results are consistent with the simulations. In conclusion, the proposed method is simple and reliable, and can realize the quickly-deployable hand-eye calibration for robotic manipulator and RGB-D cameras.
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