Robotic Eye-in-hand Calibration in an Uncalibrated Environment

Journal of Systemics, Cybernetics and Informatics

Frank Hardy¹  Sebastian Van Delden¹ 

[1] University of South Carolina Upstate;

关键词: Robotics;    Eye-In-Hand Manipulator;    computer vision;    Camera Calibration;   

DOI  :  

来源: DOAJ

【 摘 要 】

The optical flow of high interest points in images of an uncalibrated scene is used to recover the camera orientation of an eye-in-hand robotic manipulator. The system is completely automated, iteratively performing a sequence of rotations and translations until the camera frame is aligned with the manipulator's world frame. The manipulator must be able to translate and rotate its end-effector with respect to its world frame. The system is implemented and being tested on a Stäubli RX60 manipulator using an off-the-shelf Logitech USB camera.

【 授权许可】

Unknown