Simultaneous hand-eye calibration and reconstruction

Hand-eye calibration is a well-known calibration problem. The problem assumes that a camera (eye) is rigidly mounted to the gripper (hand) of a robot arm and aims to find the transformation between them. In this paper, we propose a novel pipeline for hand-eye calibration without the use of a calibration target. First we employ feature extraction and matching, followed by an initial hand-eye calibration step using 2-view matches. In an iterative process, we then alternately employ triangulation and bundle adjustment to optimize the reconstruction and the hand-eye calibration result. Unlike in structure from motion and traditional hand-eye calibration, during this process we always determine the global camera poses using the hand poses and the estimated hand-eye transformation. Synthetic-data and real-data experiments are performed to evaluate the proposed approach, and the results indicate that the accuracy of our approach is superior to state-of-the-art approaches. Moreover, the speed of our algorithm is faster than existing methods.

[1]  Gregory S. Chirikjian,et al.  A Probabilistic Solution to the AX=XB Problem: Sensor Calibration without Correspondence , 2013, GSI.

[2]  Gregory S. Chirikjian,et al.  An information-theoretic approach to the correspondence-free AX=XB sensor calibration problem , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[3]  Gregory S. Chirikjian,et al.  Probabilistic Approaches to the AXB = YCZ Calibration Problem in Multi-Robot Systems , 2016, Robotics: Science and Systems.

[4]  Frank Chongwoo Park,et al.  Robot sensor calibration: solving AX=XB on the Euclidean group , 1994, IEEE Trans. Robotics Autom..

[5]  Jean-Yves Bouguet,et al.  Camera calibration toolbox for matlab , 2001 .

[6]  Robert C. Bolles,et al.  Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography , 1981, CACM.

[7]  H. Neudecker.  Some Theorems on Matrix Differentiation with Special Reference to Kronecker Matrix Products , 1969 .

[8]  Jack C. K. Chou,et al.  Finding the Position and Orientation of a Sensor on a Robot Manipulator Using Quaternions , 1991, Int. J. Robotics Res..

[9]  Radu Horaud,et al.  On-line hand-eye calibration , 1999, Second International Conference on 3-D Digital Imaging and Modeling (Cat. No.PR00062).

[10]  Michal Havlena,et al.  Globally Optimal Hand-Eye Calibration Using Branch-and-Bound , 2016, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[11]  S. Shankar Sastry,et al.  An Invitation to 3-D Vision , 2004 .

[12]  Zhengyou Zhang,et al.  A Flexible New Technique for Camera Calibration , 2000, IEEE Trans. Pattern Anal. Mach. Intell..

[13]  Yiu Cheung Shiu,et al.  Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB , 1989, IEEE Trans. Robotics Autom..

[14]  Fadi Dornaika,et al.  Simultaneous robot-world and hand-eye calibration , 1998, IEEE Trans. Robotics Autom..

[15]  Michal Havlena,et al.  Structure-from-motion based hand-eye calibration using L∞ minimization , 2011, CVPR 2011.

[16]  Fadi Dornaika,et al.  Hand-Eye Calibration , 1995, Int. J. Robotics Res..

[17]  Michal Havlena,et al.  A branch-and-bound algorithm for globally optimal hand-eye calibration , 2012, 2012 IEEE Conference on Computer Vision and Pattern Recognition.

[18]  Tomás Pajdla,et al.  Globally optimal hand-eye calibration , 2012, 2012 IEEE Conference on Computer Vision and Pattern Recognition.

[19]  Pascal Monasse,et al.  Global Fusion of Relative Motions for Robust, Accurate and Scalable Structure from Motion , 2013, ICCV.

[20]  Gregory S. Chirikjian,et al.  Simultaneous Hand-Eye and Robot-World Calibration by Solving the $AX=YB$ Problem Without Correspondence , 2016, IEEE Robotics and Automation Letters.

[21]  Gregory S. Chirikjian,et al.  New probabilistic approaches to the AX = XB hand-eye calibration without correspondence , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[22]  Max Q.-H. Meng,et al.  Simultaneous Hand–Eye, Tool–Flange, and Robot–Robot Calibration for Comanipulation by Solving the $\mathbf{AXB=YCZ}$ Problem , 2016, IEEE Transactions on Robotics.

[23]  Heinrich Niemann,et al.  Calibration-Free Hand-Eye Calibration: A Structure-from-Motion Approach , 2005, DAGM-Symposium.

[24]  Abed Malti,et al.  Hand-eye calibration with epipolar constraints: Application to endoscopy , 2013, Robotics Auton. Syst..

[25]  Defeng Wu,et al.  Simultaneous robot-world and hand-eye calibration using dual-quaternions and Kronecker product , 2010 .

[26]  Kostas Daniilidis,et al.  Hand-Eye Calibration Using Dual Quaternions , 1999, Int. J. Robotics Res..

[27]  Yiu Cheung Shiu,et al.  A noise-tolerant algorithm for robotic hand-eye calibration with or without sensor orientation measurement , 1993, IEEE Trans. Syst. Man Cybern..

[28]  Mili Shah,et al.  Solving the Robot-World/Hand-Eye Calibration Problem Using the Kronecker Product , 2013 .

[29]  Roger Y. Tsai,et al.  A new technique for fully autonomous and efficient 3D robotics hand/eye calibration , 1988, IEEE Trans. Robotics Autom..

[30]  Avinash C. Kak,et al.  An iterative approach to the hand-eye and base-world calibration problem , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[31]  Hanqi Zhuang,et al.  Simultaneous robot/world and tool/flange calibration by solving homogeneous transformation equations of the form AX=YB , 1994, IEEE Trans. Robotics Autom..

[32]  Zijian Zhao,et al.  Hand-eye calibration using convex optimization , 2011, 2011 IEEE International Conference on Robotics and Automation.

[33]  G LoweDavid,et al.  Distinctive Image Features from Scale-Invariant Keypoints , 2004 .

[34]  Andrew W. Fitzgibbon,et al.  Bundle Adjustment - A Modern Synthesis , 1999, Workshop on Vision Algorithms.

[35]  Matthijs C. Dorst.  Distinctive Image Features from Scale-Invariant Keypoints , 2011 .