Ali, I.; Suominen, O.; Gotchev, A.; Morales, E.R. Methods for Simultaneous Robot-World-Hand–Eye Calibration: A Comparative Study. Sensors2019, 19, 2837.
Ali, I.; Suominen, O.; Gotchev, A.; Morales, E.R. Methods for Simultaneous Robot-World-Hand–Eye Calibration: A Comparative Study. Sensors 2019, 19, 2837.
In this paper, we propose two novel methods for robot-world/hand-eye calibration and provide a comparative analysis against six state-of-the-art methods. We examine the calibration problem from two alternative geometrical interpretations, called hand-eye and robot-world-hand-eye, respectively. The study analyses the effects of specifying the objective function as pose error or reprojection error minimization problem. We provide three real and three simulated datasets with rendered images as part of the study. In addition, we propose a robotic arm error modeling approach to be used along with the simulated datasets for generating a realistic response. The tests on simulated data are performed in both ideal cases and with pseudo-realistic robotic arm pose and visual noise. Our methods show significant improvement and robustness on many metrics in various scenarios compared to state-of-the-art methods.
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.