Six DOF eye-to-hand calibration from 2D measurements using planar constraints

Fredrik Bagge Carlson; Rolf Johansson; Anders Robertsson

IROS 2015poster39 citations

Six DOF eye-to-hand calibration from 2D measurements using planar constraints

Fredrik Bagge Carlson, Rolf Johansson, Anders Robertsson

Abstract

This article presents a linear, iterative method to solve the eye-to-hand calibration problem between a wrist-mounted laser scanner and the tool flange of a robot. Measurement data are acquired from a set of non parallel planes where after the plane equations and desired rigid transformation matrix are found in a two-step, iterative fashion. The method is shown to handle large error in the initial estimate of the transform and results are verified in both simulations and experiments using a seam tracking laser sensor for welding applications.

BibTeX

@inproceedings{iros2015_sixdofeyetohandc,
  title = {Six DOF eye-to-hand calibration from 2D measurements using planar constraints},
  author = {Fredrik Bagge Carlson and Rolf Johansson and Anders Robertsson},
  booktitle = {IROS 2015},
  year = {2015}
}