Self calibration of a stereo head mounted onto a robot arm
In this paper we propose a new method for solving the handeye calibration problem and we show how this method can be used in conjunction with a reconstruction technique in order to estimate on-line the relationship between the frame in which the scene has been reconstructed (or calibration frame) and the frame attached to the robot hand. The method is particularly well suited for calibrating stereo heads with respect to the robot on which they are mounted. We discuss the advantage of on-line (self) versus off-line hand-eye and camera calibrations. We develop two solutions for solving for the hand-eye calibration problem, a closed-form solution and a non-linear least-squares solution. Finally we report on some experiments performed with a stereo head mounted onto a 6 degrees of freedom robot arm.
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