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A Method for Hand-Eye and Camera-to-Camera Calibration for Limited Fields of View

Nissler, Christian and Marton, Zoltan-Csaba and Kisner, Hannes and Thomas, Ulrike and Triebel, Rudolph (2017) A Method for Hand-Eye and Camera-to-Camera Calibration for Limited Fields of View. In: IEEE International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Kanada.

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Abstract

In classical robot-camera calibration, a 6D transformation between the camera frame and the local frame of a robot is estimated by first observing a known calibration object from a number of different view points and then finding transformation parameters that minimize the reprojection error. The disadvantage with this is that often not all configurations can be reached by the end-effector, which leads to an inaccurate parameter estimation. Therefore, we propose a more versatile method based on the detection of oriented visual features, in our case AprilTags. From a collected number of such detections during a defined rotation of a joint, we fit a Bingham distribution by maximizing the observation likelihood of the detected orientations. After a tilt and a second rotation, a camera-to-joint transformation can be determined. In experiments with accurate ground truth available, we evaluate our approach in terms of precision and robustness, both for hand-eye/robot-camera and for camera- camera calibration, with classical solutions serving as a baseline.

Item URL in elib:https://elib.dlr.de/116772/
Document Type:Conference or Workshop Item (Speech)
Title:A Method for Hand-Eye and Camera-to-Camera Calibration for Limited Fields of View
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Nissler, ChristianChristian.Nissler (at) dlr.dehttps://orcid.org/0000-0003-4361-9041
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Kisner, HannesUNSPECIFIEDUNSPECIFIED
Thomas, UlrikeUlrike.Thomas (at) dlr.deUNSPECIFIED
Triebel, RudolphRudolph.Triebel (at) dlr.deUNSPECIFIED
Date:September 2017
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:hand-eye calibration; stereo calibration; pose estimation
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Vancouver, Kanada
Event Type:international Conference
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Nissler, Christian
Deposited On:07 Dec 2017 16:34
Last Modified:31 Jul 2019 20:14

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