Publication

Hand-eye calibration made easy through a closed-form two-stage method

Journal Article (2022)

Journal

IEEE Robotics and Automation Letters

Pages

3679-3686

Volume

7

Number

2

Doc link

http://dx.doi.org/10.1109/LRA.2022.3146943

File

Download the digital copy of the doc pdf document

Abstract

An analysis of the existing hand-eye calibration methods reveals that most of them are far from trivial. And, what is worse, their intrinsic complexity makes it difficult to elucidate under which circumstances they fail to provide an accurate solution. Thus, although it might seem that hand-eye calibration problem is uninspiring because it is assumed to be well-solved, we show in this paper that there was still room for improvement, both in terms of simplicity and robustness. After reviewing the most representative methods, we analyze the situations in which they fail, and we introduce a simpler closed-form alternative that accurately solves the problem in all the identified critical circumstances. Its performance is evaluated using simulated and real experimental data.

Categories

robots.

Author keywords

Hand-eye calibration, 3D rigid displacements, axis-angle representation, orthonormalization.

Scientific reference

S. Sarabandi, J.M. Porta and F. Thomas. Hand-eye calibration made easy through a closed-form two-stage method. IEEE Robotics and Automation Letters, 7(2): 3679-3686, 2022.