Hand-eye and robot-world calibration by global polynomial optimization
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00223253" target="_blank" >RIV/68407700:21230/14:00223253 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ICRA.2014.6907313" target="_blank" >http://dx.doi.org/10.1109/ICRA.2014.6907313</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2014.6907313" target="_blank" >10.1109/ICRA.2014.6907313</a>
Alternative languages
Result language
angličtina
Original language name
Hand-eye and robot-world calibration by global polynomial optimization
Original language description
The need to relate measurements made by a camera to a different known coordinate syste m arises in many engineering applications. Historically, it appeared for the first time in the connection with cameras mounted on robotic systems. This problem is commonly known as hand-ey e calibration. In this paper, we present several formulations of hand-eye calibration that lea d to multivariate polynomial optimization problems. We show that the method of convex linear m atrix inequality (LMI) relaxations can beused to effectively solve these problems and to obta in globally optimal solutions. Further, we show that the same approach can be used for the sim ultaneous hand-eye and robot-world calibration. Finally, we validate the proposed solutions us ing both synthetic and real datasets.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
—
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation
ISBN
978-1-4799-3684-7
ISSN
1050-4729
e-ISSN
—
Number of pages
8
Pages from-to
3157-3164
Publisher name
IEEE
Place of publication
Piscataway
Event location
Hong Kong
Event date
May 31, 2014
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—