The paper presents a new method for hand-eye calibration in robots. Traditional hand-eye calibration techniques require a calibration rig, but this method instead combines structure-from-motion with known robot motions to obtain a linear solution. This solution solves for both the hand-eye parameters and the unknown scale factor inherent with structure-from-motion methods. The method allows for a variety of motions, including singular ones like pure translations, pure rotations, and planar motions. It’s particularly relevant for unmanned vehicles and robots working in remote places, where carrying a calibration object isn’t feasible. The paper’s experiments validate the method by comparing it to existing ones.
Publication date: 21 Nov 2023
Project Page: Not Specified
Paper: https://arxiv.org/pdf/2311.11808
