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Intrinsic camera and hand-eye calibration for a robot vision system using a point marker
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-0579-3372
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-7714-928X
2015 (English)In: IEEE-RAS International Conference on Humanoid Robots, IEEE Computer Society, 2015, 59-66 p.Conference paper (Refereed)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.

Place, publisher, year, edition, pages
IEEE Computer Society, 2015. 59-66 p.
Keyword [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
National Category
Computer Vision and Robotics (Autonomous Systems) Robotics
Identifiers
URN: urn:nbn:se:kth:diva-181572DOI: 10.1109/HUMANOIDS.2014.7041338ScopusID: 2-s2.0-84945196329ISBN: 9781479971749OAI: oai:DiVA.org:kth-181572DiVA: diva2:911823
Conference
2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014, 18 November 2014 through 20 November 2014
Note

QC 20160314

Available from: 2016-03-14 Created: 2016-02-02 Last updated: 2016-03-14Bibliographically approved

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Björkman, MårtenÖgren, Petter
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