基于 ChArUco 板的在线手眼标定方法研究。

Research of Online Hand-Eye Calibration Method Based on ChArUco Board.

机构信息

Fujian (Quanzhou)-HIT Research Institute of Engineering and Technology, Quanzhou 362000, China.

出版信息

Sensors (Basel). 2022 May 17;22(10):3805. doi: 10.3390/s22103805.

DOI:10.3390/s22103805

PMID:35632215

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9147787/

Abstract

To solve the problem of inflexibility of offline hand-eye calibration in "eye-in-hand" modes, an online hand-eye calibration method based on the ChArUco board is proposed in this paper. Firstly, a hand-eye calibration model based on the ChArUco board is established, by analyzing the mathematical model of hand-eye calibration, and the image features of the ChArUco board. According to the advantages of the ChArUco board, with both the checkerboard and the ArUco marker, an online hand-eye calibration algorithm based on the ChArUco board is designed. Then, the online hand-eye calibration algorithm, based on the ChArUco board, is used to realize the dynamic adjustment of the hand-eye position relationship. Finally, the hand-eye calibration experiment is carried out to verify the accuracy of the hand-eye calibration based on the ChArUco board. The robustness and accuracy of the proposed method are verified by online hand-eye calibration experiments. The experimental results show that the accuracy of the online hand-eye calibration method proposed in this paper is between 0.4 mm and 0.6 mm, which is almost the same as the offline hand-eye calibration accuracy. The method in this paper utilizes the advantages of the ChArUco board to realize online hand-eye calibration, which improves the flexibility and robustness of hand-eye calibration.

摘要

为了解决“眼在手”模式下离线手眼标定不灵活的问题，本文提出了一种基于 ChArUco 板的在线手眼标定方法。首先，建立了基于 ChArUco 板的手眼标定模型，通过分析手眼标定的数学模型和 ChArUco 板的图像特征，根据 ChArUco 板的优点，结合棋盘格和 ArUco 标记，设计了一种基于 ChArUco 板的在线手眼标定算法。然后，基于 ChArUco 板的在线手眼标定算法用于实现手眼位置关系的动态调整。最后，进行手眼标定实验，验证基于 ChArUco 板的手眼标定的准确性。通过在线手眼标定实验验证了所提方法的鲁棒性和准确性。实验结果表明，本文提出的在线手眼标定方法的精度在 0.4mm 到 0.6mm 之间，几乎与离线手眼标定精度相同。本文方法利用 ChArUco 板的优点实现了在线手眼标定，提高了手眼标定的灵活性和鲁棒性。