论文信息 - Hand to sensor calibration: A geometrical interpretation of the matrix equation AXXB

Hand to sensor calibration: A geometrical interpretation of the matrix equation AXXB

In this paper, the matrix equation AX=XB used for hand to sensor calibration of robotmounted sensors is analyzed using a geometrical approach. The analysis leads to an original way to describe the properties of the equation and to find all of its solutions. It will also be highlighted why, when multiple instances AiX=XBi i=1,2 , . . . of the equation are to be solved simultaneously, the system is overconstrained. Finally, singular cases are also discussed. © 2005 Wiley Periodicals, Inc.

Giovanni Legnani | Irene Fassi | I. Fassi | G. Legnani

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