2022
Simultaneous Calibration of Multiple Revolute Joints for Articulated Vision Systems via SE(3) Kinematic Bundle Adjustment
RA-L 2022
We propose a vision-based approach to calibrate kinematic structure of low degree-of-freedom (DoF) articulated systems. Standard hand-eye calibration yields excellent eye-to-hand relations by explicitly estimating end-effector mounted camera poses from the Perspective-n-Point (PnP) problem of a sing