利用3D打印标定球的机械臂与RGB-D相机手眼标定方法

doi:10.13973/j.cnki.robot.170642

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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.

摘要因为彩色镜头和深度镜头不在同一位置，并且深度图像测量精度差、分辨率低、没有颜色纹理信息，传统的手眼标定方法并不适用于RGB-D相机．本文提出一种利用简单低成本的3D打印球作为标定件对机械臂与RGB-D相机进行手眼标定的方法．本方法只需要测量标定件的3D位置信息，避免使用测量不便、精度稍差的姿态信息．文中给出了该方法的封闭解和迭代优化解．100组仿真结果表明，标定精度与RGB-D相机自身测量精度一致；封闭解不需要机械臂与相机时间同步；迭代优化解的标定精度略有提升，误差最大值和误差方差都很稳定．最后，在7自由度的KUKA ⅡWA机械臂和Kinect相机上做了手眼标定实验，结果与仿真实验一致．总之，本文方法简单可靠，可实现机械臂与RGB-D相机之间的快速部署手眼标定．

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关键词 ：手眼标定, RGB-D相机, Kinect

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.

Key words： hand-eye calibration RGB-D camera Kinect

收稿日期: 2017-11-27 录用日期: 2018-03-20

TP242

基金资助:国家自然科学基金（U1508208，61573340）；中国科学院重点部署项目（KTZD-EW-608-1）

通讯作者: 宋国立,songgl@sia.cn E-mail: songgl@sia.cn

作者简介: 杜惠斌(1989-),男,博士.研究领域:协作机器人动态避障,运动规划与控制
宋国立(1986-),男,博士,副研究员.研究领域:手术机器人导航与控制方法
赵忆文(1971-),男,博士,研究员.研究领域:特种机器人,医疗康复机器人.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.170642 或 https://robot.sia.cn/CN/Y2018/V40/I6/835

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