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Sensors (Basel). 2019 Jun 25;19(12). pii: E2837. doi: 10.3390/s19122837.

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

Author information

1
Faculty of Information Technology and Communication, Tampere University, 33720 Tampere, Finland. ihtisham.ali@tuni.fi.
2
Faculty of Information Technology and Communication, Tampere University, 33720 Tampere, Finland. olli.j.suominen@tuni.fi.
3
Faculty of Information Technology and Communication, Tampere University, 33720 Tampere, Finland. atanas.gotchev@tuni.fi.
4
Fusion for Energy (F4E), ITER Delivery Department, Remote Handling Project Team, 08019 Barcelona, Spain. Emilio.Ruiz@f4e.europa.eu.

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.

KEYWORDS:

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

Conflict of interest statement

The authors declare no conflict of interest. This article reflects the views of the authors. F4E and TUNI cannot be held responsible for any use which may be made of the information contained herein.

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