Reconstruction-Based Hand-Eye Calibration Using Arbitrary Objects

doi:10.1109/TII.2022.3203771

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	Reconstruction-Based Hand-Eye Calibration Using Arbitrary Objects
	Xing, Shiyu 1,2; Jing, Fengshui 1,2; Tan, Min 1,2
刊名	IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
	2023-05-01
卷号	19 期号:5 页码:6545-6555
关键词	Robot sensing systems Calibration Robots Point cloud compression Three-dimensional displays Service robots Robot motion 3-D reconstruction arbitrary objects computer vision and its industrial application hand-eye calibration iterative closest point (ICP) variant
ISSN号	1551-3203
DOI	10.1109/TII.2022.3203771
通讯作者	Jing, Fengshui(fengshui.jing@ia.ac.cn)
英文摘要	This article introduces a flexible hand-eye calibration technique for a 3-D sensor from a reconstruction perspective, with no need for a specialized and accurate calibration rig. Our intention is to find the hand-eye relation that simultaneously aligns multiview point clouds of a common scene into the robot base frame, namely simultaneous calibration and reconstruction. To achieve this goal, a novel variant of iterative closest point (ICP) algorithm based on the Gauss-Newton method and Lie algebra is proposed, which iteratively transforms multiview point clouds into the robot base frame, estimates point-to-point correspondences between point clouds then refines the hand-eye relation to minimize the Euclidean distance between corresponding points. In addition to the calibration result, it returns a preliminary reconstruction as a byproduct. Cases of degeneracy and applicable conditions are given and proved. Using arbitrary daily objects with no prior information and a real robotic eye-in-hand system, we verify our method feasible and effective.
资助项目	National Natural Science Foundation of China[62173327] ; National Natural Science Foundation of China[U1813208] ; National Key research and development program of China[2019YFB1312703]
WOS关键词	POSE ESTIMATION ; SENSOR ; REGISTRATION ; ORIENTATION
WOS研究方向	Automation & Control Systems ; Computer Science ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000982913400027
资助机构	National Natural Science Foundation of China ; National Key research and development program of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/53456]
专题	多模态人工智能系统全国重点实验室
通讯作者	Jing, Fengshui
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Xing, Shiyu,Jing, Fengshui,Tan, Min. Reconstruction-Based Hand-Eye Calibration Using Arbitrary Objects[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2023,19(5):6545-6555.
APA	Xing, Shiyu,Jing, Fengshui,&Tan, Min.(2023).Reconstruction-Based Hand-Eye Calibration Using Arbitrary Objects.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,19(5),6545-6555.
MLA	Xing, Shiyu,et al."Reconstruction-Based Hand-Eye Calibration Using Arbitrary Objects".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 19.5(2023):6545-6555.