A hand-eye calibration algorithm based on screw motions

作者：Zhao, Zijian^*; Liu, Yuncai

来源：Robotica, 2009, 27(2): 217-223.

DOI：10.1017/S0263574708004608

• Computer vision
• Robotic hands
• Pose estimation and registration
• Surgical robots
• Visual servoing
• Hand-eye calibration

When computer vision technique is used in robotics, robotic hand-eye calibration is it very important research task. Many algorithms have been proposed for hand-eye calibration. Based on these algorithms, we introduce a new hand-eye calibration algorithm in this paper, which employs the screw motion theory to establish a hand-eye matrix equation by using quaternion and gets a simultaneous result for rotation and translation by solving linear equations. The algorithm proposed in this paper has high accuracy and stable computational efficiency and can be understood easily. Both simulations and real experiments show the superiority of our algorithm over the comparative algorithms.

• 出版日期2009-3
• 单位上海交通大学