A comparative review of hand-eye calibration techniques for vision guided robots
Hand-eye calibration enables proper perception of the environment in which a vision guided
robot operates. Additionally, it enables the mapping of the scene in the robots frame. Proper …
robot operates. Additionally, it enables the mapping of the scene in the robots frame. Proper …
A survey on quaternion algebra and geometric algebra applications in engineering and computer science 1995–2020
E Bayro-Corrochano - IEEE Access, 2021 - ieeexplore.ieee.org
Geometric Algebra (GA) has proven to be an advanced language for mathematics, physics,
computer science, and engineering. This review presents a comprehensive study of works …
computer science, and engineering. This review presents a comprehensive study of works …
Robot hand-eye calibration using structure-from-motion
In this paper, we propose a new flexible method for hand-eye calibration. The vast majority
of existing hand-eye calibration techniques require a calibration rig that is used in …
of existing hand-eye calibration techniques require a calibration rig that is used in …
Solving the robot-world/hand-eye calibration problem using the Kronecker product
M Shah - Journal of Mechanisms and Robotics, 2013 - asmedigitalcollection.asme.org
This paper constructs a separable closed-form solution to the robot-world/hand-eye
calibration problem AX= YB. Qualifications and properties that determine the uniqueness of …
calibration problem AX= YB. Qualifications and properties that determine the uniqueness of …
Dual quaternion synthesis of constrained robotic systems
A Perez, JM McCarthy - J. Mech. Des., 2004 - asmedigitalcollection.asme.org
This paper presents a dual quaternion methodology for the kinematic synthesis of
constrained robotic systems. These systems are constructed from one or more serial chains …
constrained robotic systems. These systems are constructed from one or more serial chains …
An overview of robot-sensor calibration methods for evaluation of perception systems
M Shah, RD Eastman, T Hong - … of the Workshop on Performance Metrics …, 2012 - dl.acm.org
In this paper, an overview of methods that solve the robotsensor calibration problem of the
forms AX= XB and AX= YB is given. Each form will be split into three solutions: separable …
forms AX= XB and AX= YB is given. Each form will be split into three solutions: separable …
Pose and motion estimation using dual quaternion-based extended Kalman filtering
JS Goddard, MA Abidi - Three-Dimensional Image Capture …, 1998 - spiedigitallibrary.org
A solution to the remote three-dimensional (3-D) measurement problem is presented for a
dynamic system given a sequence of two-dimensional (2-D) intensity images of a moving …
dynamic system given a sequence of two-dimensional (2-D) intensity images of a moving …
Hand-eye and robot-world calibration by global polynomial optimization
The need to relate measurements made by a camera to a different known coordinate system
arises in many engineering applications. Historically, it appeared for the first time in the …
arises in many engineering applications. Historically, it appeared for the first time in the …
On-line hand-eye calibration
We address the problem of hand-eye calibration of a robot mounted video camera. We
derive a new linear formulation of the problem. This allows an algebraic analysis of the …
derive a new linear formulation of the problem. This allows an algebraic analysis of the …
[图书][B] Geometric computing: for wavelet transforms, robot vision, learning, control and action
E Bayro-Corrochano - 2010 - Springer
This book offers a gentle introduction to Clifford geometric algebra, an advanced
mathematical framework, for applications in perception action systems. Part I, is written in an …
mathematical framework, for applications in perception action systems. Part I, is written in an …