Article
Version 1
Preserved in Portico This version is not peer-reviewed
Reprojection Error Analysis and Algorithm Optimization of Hand-Eye Calibration for Manipulator System
Version 1
: Received: 27 October 2023 / Approved: 27 October 2023 / Online: 27 October 2023 (11:38:43 CEST)
A peer-reviewed article of this Preprint also exists.
Peng, G.; Ren, Z.; Gao, Q.; Fan, Z. Reprojection Error Analysis and Algorithm Optimization of Hand–Eye Calibration for Manipulator System. Sensors 2024, 24, 113. Peng, G.; Ren, Z.; Gao, Q.; Fan, Z. Reprojection Error Analysis and Algorithm Optimization of Hand–Eye Calibration for Manipulator System. Sensors 2024, 24, 113.
Abstract
During the hand-eye calibration process of the manipulator, the Euclidean distance error of the calibration results cannot be calculated because the true values of the hand-eye conversion matrix cannot be obtained. In this paper, a new method of projection error analysis is presented. Error analysis is carried out by using a priori knowledge that the location of AR markers is fixed in the calibration process. The coordinates of the AR marker center point are reprojected to the pixel coordinate system, and then compared with the true pixel coordinates of the AR marker center point obtained by corner detection or manual labeling in order to obtain the Euclidean distance between the two coordinates as the basis for error analysis. Experimental results show that the proposed optimization method can greatly improve the accuracy of hand-eye calibration results.
Keywords
hand-eye calibration; reprojection error analysis; manipulator object grasping
Subject
Engineering, Control and Systems Engineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Comments (0)
We encourage comments and feedback from a broad range of readers. See criteria for comments and our Diversity statement.
Leave a public commentSend a private comment to the author(s)
* All users must log in before leaving a comment