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利用3D打印标定球的机械臂与RGB-D相机手眼标定方法
Alternative TitleHand-Eye Calibration Method for Manipulator and RGB-D Camera Using 3D-Printed Ball
杜惠斌1,2; 宋国立1; 赵忆文1; 韩建达1
Department机器人学研究室
Source Publication机器人
ISSN1002-0446
2018
Volume40Issue:6Pages:835-842
Indexed ByEI ; CSCD
EI Accession number20191206655103
CSCD IDCSCD:6435751
Contribution Rank1
Funding Organization国家自然科学基金(U1508208,61573340) ; 中国科学院重点部署项目(KTZD-EW-608-1)
Keyword手眼标定 Rgb-d相机 Kinect
Abstract

因为彩色镜头和深度镜头不在同一位置,并且深度图像测量精度差、分辨率低、没有颜色纹理信息,传统的手眼标定方法并不适用于RGB-D相机.本文提出一种利用简单低成本的3D打印球作为标定件对机械臂与RGB-D相机进行手眼标定的方法.本方法只需要测量标定件的3D位置信息,避免使用测量不便、精度稍差的姿态信息.文中给出了该方法的封闭解和迭代优化解.100组仿真结果表明,标定精度与RGB-D相机自身测量精度一致;封闭解不需要机械臂与相机时间同步;迭代优化解的标定精度略有提升,误差最大值和误差方差都很稳定.最后,在7自由度的KUKA IIWA机械臂和Kinect相机上做了手眼标定实验,结果与仿真实验一致.总之,本文方法简单可靠,可实现机械臂与RGB-D相机之间的快速部署手眼标定.

Other Abstract

Traditional hand-eye calibration methods are practically inappropriate for RGB-D cameras, because that the RGB optical center and the depth optical center are not in the same location, and the depth-image is of poor measuring accuracy, low resolution, and no RGB or texture information. A hand-eye calibration method for robotic manipulator and RGB-D cameras using a simple low-cost 3D-printed ball as the calibration object is proposed. Only 3D position measurements of the calibration object are used, which avoids the inconvenience and inaccuracy of orientation measurements. A closed-form solution and an iterative optimal solution are formulated. Results of 100 simulations suggest that the calibration accuracy depends on the measuring accuracy of the RGB-D camera itself, the closed-form solution does not need time alignment between the manipulator and the RGB-D camera, and the calibration accuracy of the iterative optimal solution improves a little bit, while the maximum and variance errors are very stable. Finally, 7-DOF KUKA IIWA robot and the Kinect sensor are used to perform hand-eye calibration experiments, and the results are consistent with the simulations. In conclusion, the proposed method is simple and reliable, and can realize the quickly-deployable hand-eye calibration for robotic manipulator and RGB-D cameras.

Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/22100
Collection机器人学研究室
Corresponding Author宋国立
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室;
2.中国科学院大学
Recommended Citation
GB/T 7714
杜惠斌,宋国立,赵忆文,等. 利用3D打印标定球的机械臂与RGB-D相机手眼标定方法[J]. 机器人,2018,40(6):835-842.
APA 杜惠斌,宋国立,赵忆文,&韩建达.(2018).利用3D打印标定球的机械臂与RGB-D相机手眼标定方法.机器人,40(6),835-842.
MLA 杜惠斌,et al."利用3D打印标定球的机械臂与RGB-D相机手眼标定方法".机器人 40.6(2018):835-842.
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