Methods for Simultaneous Robot-World-Hand-Eye Calibration: A Comparative Study.
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ABSTRACT:
SUBMITTER: Ali I
PROVIDER: S-EPMC6631330 | biostudies-literature | 2019 Jun
REPOSITORIES: biostudies-literature
Publications
Methods for Simultaneous Robot-World-Hand-Eye Calibration: A Comparative Study.
Ali Ihtisham I Suominen Olli O Gotchev Atanas A Morales Emilio Ruiz ER
Sensors (Basel, Switzerland) 20190625 12
In this paper, we propose two novel methods for robot-world-hand-eye calibration and provide a comparative analysis against six state-of-the-art methods. We examine the calibration problem from two alternative geometrical interpretations, called 'hand-eye' and 'robot-world-hand-eye', respectively. The study analyses the effects of specifying the objective function as pose error or reprojection error minimization problem. We provide three real and three simulated datasets with rendered images as ...[more]
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