Robot Head-Eye Calibration Using the Minimum Variance Method

Title
Robot Head-Eye Calibration Using the Minimum Variance Method
Authors
김신정정문호이중재이지용김강건유범재오상록
Issue Date
2010-12
Publisher
The 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO2010)
Citation
, 1446-1451
Abstract
This paper presents a calibration method for a robot Head-Eye system which can be used in a humanoid robot vision system. This method estimates the transformation between the robot coordinate and the camera coordinate. The calibration procedure uses visual measurements and kinematic information as the inputs of nonlinear optimization. For this calibration method, an objective function for the optimization, that uses the Minimum Variance method is defined. The procedure of this method is very simple and intuitive. Besides, the result of this method is considerably precise and robust against the noisy environment. The performance is compared with earlier approaches and the results of simulation and actual experiment are followed.
URI
http://pubs.kist.re.kr/handle/201004/39222
Appears in Collections:
KIST Publication > Conference Paper
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