Towards the Embedding of On-Line Hand-Eye Calibration into Visual Servoing

Nicolas Andreff 1
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : This work is related to the visual servoing of a robot hand-mounted camera. The control law of this robotic system exhibits the necessity of determining the position/orientation of a camera reference frame with respect to the control reference frame. The hand-eye calibration consists in the determination of this transformation (i.e. a rotation and a translation). We provide in this paper an on-line calibration method in two stages: rst, an initial estimation is computed with two self-calibration movements, then the estimated hand-eye transformation is updated using the controlled motions of the robot. As the latter generate low amplitude rotations, the classical formulations are not efficient any more. The homogeneous matrix equation AX=XB appearing in usual approaches is therefore reformulated into a linear system and used as a basis of a Kalman lter which is to be run in parallel with the visual servoing. Preliminary simulation results were obtained and show the good behaviour of the method.
Type de document :
Communication dans un congrès
IEEE/RSJ/INRIA Workshop On "New Trends in Image-based Robot Servoing" (IROS '97), Sep 1997, Grenoble, France. pp.64--70, 1997
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Nicolas Andreff. Towards the Embedding of On-Line Hand-Eye Calibration into Visual Servoing. IEEE/RSJ/INRIA Workshop On "New Trends in Image-based Robot Servoing" (IROS '97), Sep 1997, Grenoble, France. pp.64--70, 1997. 〈inria-00590075〉

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