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Research of Online Hand-Eye Calibration Method Based on ChArUco Board.
- Source :
-
Sensors (Basel, Switzerland) [Sensors (Basel)] 2022 May 17; Vol. 22 (10). Date of Electronic Publication: 2022 May 17. - Publication Year :
- 2022
-
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.
- Subjects :
- Calibration
Models, Theoretical
Algorithms
Hand
Subjects
Details
- Language :
- English
- ISSN :
- 1424-8220
- Volume :
- 22
- Issue :
- 10
- Database :
- MEDLINE
- Journal :
- Sensors (Basel, Switzerland)
- Publication Type :
- Academic Journal
- Accession number :
- 35632215
- Full Text :
- https://doi.org/10.3390/s22103805