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Intrinsic camera and hand-eye calibration for a robot vision system using a point marker
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0003-0579-3372
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0002-7714-928X
2015 (engelsk)Inngår i: IEEE-RAS International Conference on Humanoid Robots, IEEE Computer Society, 2015, s. 59-66Konferansepaper, Publicerat paper (Fagfellevurdert)
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Text
Abstract [en]

Accurate robot camera calibration is a requirement for vision guided robots to perform precision assembly tasks. In this paper, we address the problem of doing intrinsic camera and hand-eye calibration on a robot vision system using a single point marker. This removes the need for using bulky special purpose calibration objects, and also facilitates on line accuracy checking and re-calibration when needed, without altering the robots production environment. The proposed solution provides a calibration routine that produces high quality results on par with the robot accuracy and completes a calibration in 3 minutes without need of manual intervention. We also present a method for automatic testing of camera calibration accuracy. Results from experimental verification on the dual arm concept robot FRIDA are presented.

sted, utgiver, år, opplag, sider
IEEE Computer Society, 2015. s. 59-66
Emneord [en]
Anthropomorphic robots, Automatic testing, Cameras, Computer vision, Robots, Camera calibration, Experimental verification, Hand-eye calibration, Manual intervention, Precision assemblies, Production environments, Robot vision systems, Vision-guided robots, Calibration
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-181572DOI: 10.1109/HUMANOIDS.2014.7041338Scopus ID: 2-s2.0-84945196329ISBN: 9781479971749 (tryckt)OAI: oai:DiVA.org:kth-181572DiVA, id: diva2:911823
Konferanse
2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014, 18 November 2014 through 20 November 2014
Merknad

QC 20160314

Tilgjengelig fra: 2016-03-14 Laget: 2016-02-02 Sist oppdatert: 2018-01-10bibliografisk kontrollert

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