任意物体を用いたレーザープロファイルセンサのオンサイト並進ハンドアイキャリブレーション
In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects
レーザープロファイルセンサのハンドアイキャリブレーションのうち並進成分を、専用ターゲットを使わず任意の2D/3D物体でオンサイト推定する手法を提案し、実機で検証した。
著者: Prajval Kumar Murali, Ines Sorrentino, Angelo Rendiniello, Claudio Fantacci, Enrico Villagrossi, Andrea Polo, Alessandro Ardesi, Marco Maggiali, Lorenzo Natale, Daniele Pucci, Silvio Traversaro
分類: cs.RO
原文アブストラクト
Hand-eye calibration of laser profile sensors is the process of extracting the homogeneous transformation between the laser profile sensor frame and the end-effector frame of a robot in order to express the data extracted by the sensor in the robot's global coordinate system. For laser profile scanners this is a challenging procedure, as they provide data only in two dimensions and state-of-the-art calibration procedures require the use of specialised calibration targets. This paper presents a novel method to extract the translation-part of the hand-eye calibration matrix with rotation-part known a priori in a target-agnostic way. Our methodology is applicable to any 2D image or 3D object as a calibration target and can also be performed in situ in the final application. The method is experimentally validated on a real robot-sensor setup with 2D and 3D targets.
