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On-line Hand-Eye Calibration

Nicolas Andreff 1 Radu Horaud 1 Bernard Espiau 2 
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
2 BIP - Biped Robot
Inria Grenoble - Rhône-Alpes
Abstract : In this paper, we address the problem of hand-eye calibration of arobot mounted video camera. In a first time, we derive a new linear formulation of the problem. This allows an algebraic analysis of the cases that usual approaches do not consider. In a second time, we extend this new formulation into an on-line hand-eye calibration method. This method allows to get rid of the calibration object required by the standard approaches and use unknown scenes instead. Finally, experimental results validate both methods.
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Nicolas Andreff, Radu Horaud, Bernard Espiau. On-line Hand-Eye Calibration. 2nd International Conference on 3-D Digital Imaging and Modeling (3DIM'99), National Research Council of Canada, Oct 1999, Ottawa, Canada. pp.430--436, ⟨10.1109/IM.1999.805374⟩. ⟨inria-00590109⟩



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