Complete robot-eye calibration without special calibration objects

J. H. Magnus Byne; James A. D. W. Anderson

doi:10.1117/12.271232

15 April 1997 Complete robot-eye calibration without special calibration objects

J. H. Magnus Byne, James A. D. W. Anderson

Proceedings Volume 3029, Machine Vision Applications in Industrial Inspection V; (1997) https://doi.org/10.1117/12.271232
Event: Electronic Imaging '97, 1997, San Jose, CA, United States

Abstract

A robot mounted camera is useful in many machine vision tasks as it allows control over view direction and position. In this paper we report a technique for calibrating both the robot and the camera using only a single corresponding point. All existing head-eye calibration systems we have encountered rely on using pre-calibrated robots, pre- calibrated cameras, special calibration objects or combinations of these. Our method avoids using large scale non-linear optimizations by recovering the parameters in small dependent groups. This is done by performing a series of planned, but initially uncalibrated robot movements. Many of the kinematic parameters are obtained using only camera views in which the calibration feature is at, or near the image center, thus avoiding errors which could be introduced by lens distortion. The calibration is shown to be both stable and accurate. The robotic system we use consists of camera with pan-tilt capability mounted on a Cartesian robot, providing a total of 5 degrees of freedom.

Citation Download Citation

J. H. Magnus Byne and James A. D. W. Anderson "Complete robot-eye calibration without special calibration objects", Proc. SPIE 3029, Machine Vision Applications in Industrial Inspection V, (15 April 1997); https://doi.org/10.1117/12.271232

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