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一种基于线性模型的机器人手眼标定新方法
Alternative TitleA New Approach for Robot Hand-Eye Calibration Based on Linear Prototype
王颖; 董再励; 孙茂相; 徐进学
Department机器人学研究室
Source Publication模式识别与人工智能
ISSN1003-6059
2005
Volume18Issue:4Pages:491-495
Indexed ByEI ; CSCD
EI Accession number2005419406121
CSCD IDCSCD:2023897
Contribution Rank1
Keyword机器人手眼标定 矩阵直积 最小二乘法
Abstract针对基于传统手眼标定模型AX=XB的标定问题,引入了由摄像机投影矩阵M构成的数学模型MY=M'YB,并针对该模型提出了一种新解法。该方法运用矩阵直积和特征向量理论,将关于机器人手眼关系矩阵X的问题描述转换成关于关联矩阵Y的线性方程,运用最小二乘法求得线性闭解。该方法消除了传统方法多次分解摄像机传感器系统的内外参数而引入的摄像机传感器系统的固有误差和随机误差的影响。实验表明该方法可以提高手眼系统标定精度。
Other AbstractFor the problem of hand--eye calibration based on the classic transform equation of the form AX = XB, the paper presents a new approach to robot hand--eye calibration based on the projection matrix M that yields a homogeneous transform equation of the form My = MYB. This approach transforms the problem of hand--eye rnatrix X into linear problems of relating matrix Y by integrating matrix direct--multiply with matrix singular value method and solves the hand--eye matrix by lease --squares procedure. This method avoids the inherent errors and random errors of camera sensor system resulted from decomposition of the projection matrix M. Experimental results indicate that the proposed approach can improve the precision of hand--eye calibration system.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/2916
Collection机器人学研究室
Corresponding Author王颖
Affiliation1.沈阳工业大学信息科学与工程学院
2.中国科学院沈阳自动化研究所机器人学重点实验室
Recommended Citation
GB/T 7714
王颖,董再励,孙茂相,等. 一种基于线性模型的机器人手眼标定新方法[J]. 模式识别与人工智能,2005,18(4):491-495.
APA 王颖,董再励,孙茂相,&徐进学.(2005).一种基于线性模型的机器人手眼标定新方法.模式识别与人工智能,18(4),491-495.
MLA 王颖,et al."一种基于线性模型的机器人手眼标定新方法".模式识别与人工智能 18.4(2005):491-495.
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