A Comparative Review of Hand-Eye Calibration Techniques for Vision Guided Robots
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Date
2021
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE Access
Abstract
Hand-eye calibration enables proper perception of the environment in which a vision guided
robot operates. Additionally, it enables the mapping of the scene in the robots frame. Proper hand-eye
calibration is crucial when sub-millimetre perceptual accuracy is needed. For example, in robot assisted
surgery, a poorly calibrated robot would cause damage to surrounding vital tissues and organs, endangering
the life of a patient. A lot of research has gone into ways of accurately calibrating the hand-eye system
of a robot with different levels of success, challenges, resource requirements and complexities. As such,
academics and industrial practitioners are faced with the challenge of choosing which algorithm meets the
implementation requirements based on the identi ed constraints. This review aims to give a general overview
of the strengths and weaknesses of different hand-eye calibration algorithms available to academics and
industrial practitioners to make an informed design decision, as well as incite possible areas of research
based on the identi ed challenges. We also discuss different calibration targets, which is an important part
of the calibration process that is often overlooked in the design process.
Description
Keywords
Calibration target, Camera-world transform, Computer vision, Hand-eye calibration, Robot hand transform, Rotation, Translation, Vision guided robot
Citation
Enebuse, I., Foo, M., Ibrahim, B. S. K. K., Ahmed, H., Supmak, F., & Eyobu, O. S. (2021). A comparative review of hand-eye calibration techniques for vision guided robots. IEEE Access, 9, 113143-113155. Digital Object Identifier 10.1109/ACCESS.2021.3104514