Preprint Article Version 1 This version is not peer-reviewed

Methods for Simultaneous Robot-World Hand-Eye Calibration: A Comparative Study

Version 1 : Received: 18 June 2019 / Approved: 19 June 2019 / Online: 19 June 2019 (09:52:57 CEST)

A peer-reviewed article of this Preprint also exists.

Ali, I.; Suominen, O.; Gotchev, A.; Morales, E.R. Methods for Simultaneous Robot-World-Hand–Eye Calibration: A Comparative Study. Sensors 2019, 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.

Journal reference: Sensors 2019, 19, 2837
DOI: 10.3390/s19122837

Abstract

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.

Subject Areas

robot–world-hand-eye calibration; hand-eye calibration; optimization

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