Multi-sensor augmented reality tracking based on robot hand-eye calibration

Yang Zhang; Lin Li; Ya Zhou; Tao Su; Jin Tao Ma; Xiao Ming Hu

doi:10.1007/978-3-642-27866-2_7

Multi-sensor augmented reality tracking based on robot hand-eye calibration

Yang Zhang, Lin Li, Ya Zhou^*, Tao Su, Jin Tao Ma, Xiao Ming Hu

^*Corresponding author for this work

Beijing Institute of Technology

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

6 Citations (Scopus)

Abstract

Calibration of coordinate systems between cameras and world coordinate system is of key importance in augmented reality. In this paper, a multi-sensor mechanical tracking method is proposed based on robot hand-eye calibration. The original camera pose estimation is obtained using computer vision algorithm by improved orthogonal iteration. In tracking process, the camera extrinsic parameters, i.e. rotation and translation matrixes are got by rotary angles of sensors mounted on the multi-arm mechanical system. Users can observe augmented scene on the video see-through display set on the end of the arms and move in six degree of freedom by linkage motion. The tracking accuracy and test application are presented.

Original language	English
Title of host publication	Affective Computing and Intelligent Interaction
Pages	51-57
Number of pages	7
DOIs	https://doi.org/10.1007/978-3-642-27866-2_7
Publication status	Published - 2012
Event	2012 International Conference on Affective Computing and Intelligent Interaction, ICACII 2012 - Taipei, Taiwan, Province of China Duration: 27 Feb 2012 → 28 Feb 2012

Publication series

Name	Advances in Intelligent and Soft Computing
Volume	137 AISC
ISSN (Print)	1867-5662

Conference

Conference	2012 International Conference on Affective Computing and Intelligent Interaction, ICACII 2012
Country/Territory	Taiwan, Province of China
City	Taipei
Period	27/02/12 → 28/02/12

Keywords

Augmented reality
Hand-eye calibration
Tracking

Access to Document

10.1007/978-3-642-27866-2_7

Cite this

Zhang, Y., Li, L., Zhou, Y., Su, T., Ma, J. T., & Hu, X. M. (2012). Multi-sensor augmented reality tracking based on robot hand-eye calibration. In Affective Computing and Intelligent Interaction (pp. 51-57). (Advances in Intelligent and Soft Computing; Vol. 137 AISC). https://doi.org/10.1007/978-3-642-27866-2_7

@inproceedings{3717104fbc5b4284a8d3523eaa85fc27,

title = "Multi-sensor augmented reality tracking based on robot hand-eye calibration",

abstract = "Calibration of coordinate systems between cameras and world coordinate system is of key importance in augmented reality. In this paper, a multi-sensor mechanical tracking method is proposed based on robot hand-eye calibration. The original camera pose estimation is obtained using computer vision algorithm by improved orthogonal iteration. In tracking process, the camera extrinsic parameters, i.e. rotation and translation matrixes are got by rotary angles of sensors mounted on the multi-arm mechanical system. Users can observe augmented scene on the video see-through display set on the end of the arms and move in six degree of freedom by linkage motion. The tracking accuracy and test application are presented.",

keywords = "Augmented reality, Hand-eye calibration, Tracking",

author = "Yang Zhang and Lin Li and Ya Zhou and Tao Su and Ma, {Jin Tao} and Hu, {Xiao Ming}",

year = "2012",

doi = "10.1007/978-3-642-27866-2_7",

language = "English",

isbn = "9783642278655",

series = "Advances in Intelligent and Soft Computing",

pages = "51--57",

booktitle = "Affective Computing and Intelligent Interaction",

note = "2012 International Conference on Affective Computing and Intelligent Interaction, ICACII 2012 ; Conference date: 27-02-2012 Through 28-02-2012",

}

Zhang, Y, Li, L, Zhou, Y, Su, T, Ma, JT & Hu, XM 2012, Multi-sensor augmented reality tracking based on robot hand-eye calibration. in Affective Computing and Intelligent Interaction. Advances in Intelligent and Soft Computing, vol. 137 AISC, pp. 51-57, 2012 International Conference on Affective Computing and Intelligent Interaction, ICACII 2012, Taipei, Taiwan, Province of China, 27/02/12. https://doi.org/10.1007/978-3-642-27866-2_7

TY - GEN

T1 - Multi-sensor augmented reality tracking based on robot hand-eye calibration

AU - Zhang, Yang

AU - Li, Lin

AU - Zhou, Ya

AU - Su, Tao

AU - Ma, Jin Tao

AU - Hu, Xiao Ming

PY - 2012

Y1 - 2012

N2 - Calibration of coordinate systems between cameras and world coordinate system is of key importance in augmented reality. In this paper, a multi-sensor mechanical tracking method is proposed based on robot hand-eye calibration. The original camera pose estimation is obtained using computer vision algorithm by improved orthogonal iteration. In tracking process, the camera extrinsic parameters, i.e. rotation and translation matrixes are got by rotary angles of sensors mounted on the multi-arm mechanical system. Users can observe augmented scene on the video see-through display set on the end of the arms and move in six degree of freedom by linkage motion. The tracking accuracy and test application are presented.

AB - Calibration of coordinate systems between cameras and world coordinate system is of key importance in augmented reality. In this paper, a multi-sensor mechanical tracking method is proposed based on robot hand-eye calibration. The original camera pose estimation is obtained using computer vision algorithm by improved orthogonal iteration. In tracking process, the camera extrinsic parameters, i.e. rotation and translation matrixes are got by rotary angles of sensors mounted on the multi-arm mechanical system. Users can observe augmented scene on the video see-through display set on the end of the arms and move in six degree of freedom by linkage motion. The tracking accuracy and test application are presented.

KW - Augmented reality

KW - Hand-eye calibration

KW - Tracking

UR - http://www.scopus.com/inward/record.url?scp=84860319431&partnerID=8YFLogxK

U2 - 10.1007/978-3-642-27866-2_7

DO - 10.1007/978-3-642-27866-2_7

M3 - Conference contribution

AN - SCOPUS:84860319431

SN - 9783642278655

T3 - Advances in Intelligent and Soft Computing

SP - 51

EP - 57

BT - Affective Computing and Intelligent Interaction

T2 - 2012 International Conference on Affective Computing and Intelligent Interaction, ICACII 2012

Y2 - 27 February 2012 through 28 February 2012

ER -

Multi-sensor augmented reality tracking based on robot hand-eye calibration

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this