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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
Department机器人学研究室
Conference Name2018 Chinese Automation Congress (CAC)
Conference DateNovember 30 - December 2, 2018
Conference PlaceXi'an, China
Source Publication2018 Chinese Automation Congress (CAC)
2018
Pages3666-3671
Indexed ByEI ; CPCI(ISTP)
EI Accession number20191106633092
WOS IDWOS:000459239503134
Contribution Rank1
ISBN978-1-7281-1312-8
Keywordmulti RGB-D camera calibration invariance of the linear transformation human-robot interaction
AbstractFor 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
Identifierhttp://ir.sia.cn/handle/173321/23840
Collection机器人学研究室
Corresponding AuthorLi YL(李英立)
Affiliation1.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.
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