In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects
Prajval Kumar Murali, Ines Sorrentino, Angelo Rendiniello, Claudio Fantacci, Enrico Villagrossi, Andrea Polo, Alessandro Ardesi, Marco Maggiali
Abstract
Hand-eye calibration of laser profile sensors is the process of extracting the homogeneous transformation between the laser profile sensor frame and the end-effector frame of a robot in order to express the data extracted by the sensor in the robot’s global coordinate system. For laser profile scanners this is a challenging procedure, as they provide data only in two dimensions and state-of-the-art calibration procedures require the use of specialised calibration targets. This paper presents a novel method to extract the translation-part of the hand-eye calibration matrix with rotation-part known a priori in a target-agnostic way. Our methodology is applicable to any 2D image or 3D object as a calibration target and can also be performed in situ in the final application. The method is experimentally validated on a real robot-sensor setup with 2D and 3D targets.
BibTeX
@inproceedings{icra2021_insitutranslatio,
title = {In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects},
author = {Prajval Kumar Murali and Ines Sorrentino and Angelo Rendiniello and Claudio Fantacci and Enrico Villagrossi and Andrea Polo and Alessandro Ardesi and Marco Maggiali and Lorenzo Natale and Daniele Pucci and Silvio Traversaro},
booktitle = {ICRA 2021},
year = {2021}
}