| A Fast Calibration Implementation for Multiple Depth Cameras and Manipulator Based on Invariance of the Linear Transformation | |
Li YL(李英立)1,2,3; Du HB(杜惠斌)1,2,3 ; Zhao YW(赵忆文)1,2; Wang Z(王争)1,2; Zhao XG(赵新刚)1,2
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| Department | 机器人学研究室 |
| Conference Name | 2018 Chinese Automation Congress (CAC) |
| Conference Date | November 30 - December 2, 2018 |
| Conference Place | Xi'an, China |
| Source Publication | 2018 Chinese Automation Congress (CAC) |
| 2018 | |
| Pages | 3666-3671 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20191106633092 |
| WOS ID | WOS:000459239503134 |
| Contribution Rank | 1 |
| ISBN | 978-1-7281-1312-8 |
| Keyword | multi RGB-D camera calibration invariance of the linear transformation human-robot interaction |
| Abstract | For the safety in the human-robot interaction and co-existence, perceiving dynamic unknown surroundings around the manipulator is basic requirements. To fully monitor the surroundings around the manipulator, multiple depth (RGB-D) cameras are simultaneously used to address the problem of occluded areas. The fast and efficient estimation of the rigid relationship between the manipulator and multiple cameras coordinate frames is essential. In this study, a method based on invariance of the linear transformation was proposed to realize fast calibration for multiple RGB-D cameras and manipulator. Firstly, the centers of the calibration ball were extracted directly from the depth image. Secondly, the motion straight lines of the ball were, respectively, fitted in the robot and multiple cameras coordinate frames. Finally, the analytical solution was obtained by using the invariance of the linear transformation. Two Kinect cameras and a KUKA IIWA manipulator were employed to conduct experiments, and experimental results were presented to validate the performance of the proposed calibration method for multiple RGB-D cameras and manipulator. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/23840 |
| Collection | 机器人学研究室 |
| Corresponding Author | Li YL(李英立) |
| Affiliation | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), Shenyang, Liaoning, 110016, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences (CAS), Shenyang, Liaoning, 110016, China 3.University of Chinese Academy of Sciences (UCAS), Beijing, 100049, China |
| Recommended Citation GB/T 7714 | Li YL,Du HB,Zhao YW,et al. A Fast Calibration Implementation for Multiple Depth Cameras and Manipulator Based on Invariance of the Linear Transformation[C],2018:3666-3671. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| A Fast Calibration I（655KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Application Full Text | ||
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