Error Correctable Hand-Eye Calibration for Stripe-Laser Vision-Guided Robotics
Liang Zhang, Jianzhou Zhang, Xiaoyi Jiang, Biao Liang
Abstract
The stripe-laser vision guidance technology has received more and more attention in industry and academia. The hand-eye calibration technology plays an important role in the applications of the stripe-laser vision-guided robotics. Most existing hand-eye calibration methods impose orthogonality constraints. However, the orthogonality in hand-eye relationship may not be true when the stripe-laser sensor has errors. This makes the final guiding error inevitable. In this article, an error correctable (EC) hand-eye calibration method based on the linear properties of the central projection for the stripe-laser vision sensor guidance system is proposed. In this method, the measurements of a vision sensor with errors can be corrected to the right tool center point coordinates. Experiments involving synthetic and real data confirm that the proposed hand-eye calibration method is robust to the vision sensor errors.