具有旋转和平移耦合的手眼系统的校准方法。

Calibration method for hand-eye system with rotation and translation couplings.

作者信息

Zhang Yuan, Qiu Zhicheng, Zhang Xianmin

出版信息

Appl Opt. 2019 Jul 10;58(20):5375-5387. doi: 10.1364/AO.58.005375.

DOI:10.1364/AO.58.005375

Abstract

This paper develops a novel hand-eye calibration method for hand-eye systems with rotation and translation coupling terms. First, a nonlinear camera model with distortion terms and a model of a hand-eye system with rotation and translation coupling terms are established. Based on a non-linear optimization method and a reverse projection method, a decoupling calibration method for a lower-degree-of-freedom hand-eye system is proposed. Then the path planning for the calibration process is carried out. Based on the analysis of coupling constraints and hand-eye system motion constraints, three types of hand-eye calibration paths with high efficiency and easy operation are developed. In addition, the influence of key parameters on hand-eye calibration accuracy is analyzed. Finally, calibration experiments and parametric influence experiments are carried out. The results demonstrate that the proposed method is effective and practical for calibrating the hand-eye system.

摘要

本文针对具有旋转和平移耦合项的手眼系统，开发了一种新颖的手眼校准方法。首先，建立了具有畸变项的非线性相机模型以及具有旋转和平移耦合项的手眼系统模型。基于非线性优化方法和反向投影方法，提出了一种低自由度手眼系统的解耦校准方法。然后进行校准过程的路径规划。基于对耦合约束和手眼系统运动约束的分析，开发了三种高效且易于操作的手眼校准路径。此外，分析了关键参数对手眼校准精度的影响。最后，进行了校准实验和参数影响实验。结果表明，所提出的方法对于校准手眼系统是有效且实用的。