A method for hand-eye calibration of a robot vision measuring system

Yan Liu; Qinglin Wang; Yuan Li

doi:10.1109/ASCC.2015.7244799

A method for hand-eye calibration of a robot vision measuring system

Yan Liu, Qinglin Wang, Yuan Li

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

Hand-eye calibration of a robot vision measuring system that the linear structured light vision sensor was mounted on the end-effect of the robot was researched. A calibration method using a circle with a pair of orthogonal diameters as the calibration target was proposed, which the measuring coordinate system is established in the robot base coordinate system. The hand-eye calibration equation was deduced using the robot kinematical parameters, the coordinates of the calibration points in the robot base coordinate system and the computed camera extrinsic parameters relative to the circle target. The real experimental results show that the process of calibration is simple, easily completed and precision is high.

Original language	English
Title of host publication	2015 10th Asian Control Conference
Subtitle of host publication	Emerging Control Techniques for a Sustainable World, ASCC 2015
Editors	Hazlina Selamat, Hafiz Rashidi Haruna Ramli, Ahmad Athif Mohd Faudzi, Ribhan Zafira Abdul Rahman, Asnor Juraiza Ishak, Azura Che Soh, Siti Anom Ahmad
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781479978625
DOIs	https://doi.org/10.1109/ASCC.2015.7244799
Publication status	Published - 8 Sept 2015
Event	10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia Duration: 31 May 2015 → 3 Jun 2015

Publication series

Name	2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015

Conference

Conference	10th Asian Control Conference, ASCC 2015
Country/Territory	Malaysia
City	Kota Kinabalu
Period	31/05/15 → 3/06/15

Keywords

a circle target
camera extrinsic parameters
linear structured light
robot hand-eye calibration
robot mesauring system

Access to Document

10.1109/ASCC.2015.7244799

Cite this

Liu, Y., Wang, Q., & Li, Y. (2015). A method for hand-eye calibration of a robot vision measuring system. In H. Selamat, H. R. H. Ramli, A. A. M. Faudzi, R. Z. A. Rahman, A. J. Ishak, A. C. Soh, & S. A. Ahmad (Eds.), 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 Article 7244799 (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2015.7244799

Liu, Yan ; Wang, Qinglin ; Li, Yuan. / A method for hand-eye calibration of a robot vision measuring system. 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. editor / Hazlina Selamat ; Hafiz Rashidi Haruna Ramli ; Ahmad Athif Mohd Faudzi ; Ribhan Zafira Abdul Rahman ; Asnor Juraiza Ishak ; Azura Che Soh ; Siti Anom Ahmad. Institute of Electrical and Electronics Engineers Inc., 2015. (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015).

@inproceedings{cf9e0dcdb4e94e51bbfa40534bb8564f,

title = "A method for hand-eye calibration of a robot vision measuring system",

abstract = "Hand-eye calibration of a robot vision measuring system that the linear structured light vision sensor was mounted on the end-effect of the robot was researched. A calibration method using a circle with a pair of orthogonal diameters as the calibration target was proposed, which the measuring coordinate system is established in the robot base coordinate system. The hand-eye calibration equation was deduced using the robot kinematical parameters, the coordinates of the calibration points in the robot base coordinate system and the computed camera extrinsic parameters relative to the circle target. The real experimental results show that the process of calibration is simple, easily completed and precision is high.",

keywords = "a circle target, camera extrinsic parameters, linear structured light, robot hand-eye calibration, robot mesauring system",

author = "Yan Liu and Qinglin Wang and Yuan Li",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 10th Asian Control Conference, ASCC 2015 ; Conference date: 31-05-2015 Through 03-06-2015",

year = "2015",

month = sep,

day = "8",

doi = "10.1109/ASCC.2015.7244799",

language = "English",

series = "2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

editor = "Hazlina Selamat and Ramli, {Hafiz Rashidi Haruna} and Faudzi, {Ahmad Athif Mohd} and Rahman, {Ribhan Zafira Abdul} and Ishak, {Asnor Juraiza} and Soh, {Azura Che} and Ahmad, {Siti Anom}",

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address = "United States",

}

Liu, Y, Wang, Q & Li, Y 2015, A method for hand-eye calibration of a robot vision measuring system. in H Selamat, HRH Ramli, AAM Faudzi, RZA Rahman, AJ Ishak, AC Soh & SA Ahmad (eds), 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015., 7244799, 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015, Institute of Electrical and Electronics Engineers Inc., 10th Asian Control Conference, ASCC 2015, Kota Kinabalu, Malaysia, 31/05/15. https://doi.org/10.1109/ASCC.2015.7244799

A method for hand-eye calibration of a robot vision measuring system. / Liu, Yan; Wang, Qinglin; Li, Yuan.
2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. ed. / Hazlina Selamat; Hafiz Rashidi Haruna Ramli; Ahmad Athif Mohd Faudzi; Ribhan Zafira Abdul Rahman; Asnor Juraiza Ishak; Azura Che Soh; Siti Anom Ahmad. Institute of Electrical and Electronics Engineers Inc., 2015. 7244799 (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A method for hand-eye calibration of a robot vision measuring system

AU - Liu, Yan

AU - Wang, Qinglin

AU - Li, Yuan

PY - 2015/9/8

Y1 - 2015/9/8

N2 - Hand-eye calibration of a robot vision measuring system that the linear structured light vision sensor was mounted on the end-effect of the robot was researched. A calibration method using a circle with a pair of orthogonal diameters as the calibration target was proposed, which the measuring coordinate system is established in the robot base coordinate system. The hand-eye calibration equation was deduced using the robot kinematical parameters, the coordinates of the calibration points in the robot base coordinate system and the computed camera extrinsic parameters relative to the circle target. The real experimental results show that the process of calibration is simple, easily completed and precision is high.

AB - Hand-eye calibration of a robot vision measuring system that the linear structured light vision sensor was mounted on the end-effect of the robot was researched. A calibration method using a circle with a pair of orthogonal diameters as the calibration target was proposed, which the measuring coordinate system is established in the robot base coordinate system. The hand-eye calibration equation was deduced using the robot kinematical parameters, the coordinates of the calibration points in the robot base coordinate system and the computed camera extrinsic parameters relative to the circle target. The real experimental results show that the process of calibration is simple, easily completed and precision is high.

KW - a circle target

KW - camera extrinsic parameters

KW - linear structured light

KW - robot hand-eye calibration

KW - robot mesauring system

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BT - 2015 10th Asian Control Conference

A2 - Selamat, Hazlina

A2 - Ramli, Hafiz Rashidi Haruna

A2 - Faudzi, Ahmad Athif Mohd

A2 - Rahman, Ribhan Zafira Abdul

A2 - Ishak, Asnor Juraiza

A2 - Soh, Azura Che

A2 - Ahmad, Siti Anom

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 10th Asian Control Conference, ASCC 2015

Y2 - 31 May 2015 through 3 June 2015

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Liu Y, Wang Q, Li Y. A method for hand-eye calibration of a robot vision measuring system. In Selamat H, Ramli HRH, Faudzi AAM, Rahman RZA, Ishak AJ, Soh AC, Ahmad SA, editors, 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. Institute of Electrical and Electronics Engineers Inc. 2015. 7244799. (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015). doi: 10.1109/ASCC.2015.7244799

A method for hand-eye calibration of a robot vision measuring system

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Keywords

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