Problem
Research questions and friction points this paper is trying to address.
Laser-Tracker
Camera-to-Robot Calibration
Mobile Robots
Laser-Tracker-Assisted Camera-to-Robot Calibration for Mobile Robots
🤖 AI Summary
本文提出了一种激光跟踪器辅助的手眼标定方法，用于配备摄像头的移动机器人，通过结合3D激光跟踪测量和2D摄像机观测来解决相机与机器人坐标系之间的校准问题。
📝 Abstract
We present a laser-tracker-assisted hand-eye calibration method for camera-equipped mobile robots. The method combines laser-tracker-based 3D metrology with camera-based 2D observations. Building on our previous laser-tracker-assisted camera-to-robot calibration method for ground-observing mobile robots, we present a generalized formulation for calibrating the camera pose in the coordinate system of tracker-localized mobile robots. The new approach relaxes assumptions of our previous method on robot and camera configuration by chaining multiple calibration targets resulting in a more general approach supporting various camera-equipped mobile robot systems.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Laser-tracker-assisted
Hand-eye calibration
Mobile robots
Multiple calibration targets
🔎 Similar Papers
2024-08-20Citations: 0
