A Comparative Review of Hand-Eye Calibration Techniques for Vision Guided Robots

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dc.contributor.authorEnebuse, Ikenna
dc.contributor.authorFoo, Mathias
dc.contributor.authorSalam Ksm Kader Ibrahim, Babul
dc.contributor.authorAhmed, Hafiz
dc.contributor.authorSupmak, Fhon
dc.contributor.authorEyobu, Odongo Steven
dc.date.accessioned2023-02-03T15:06:38Z
dc.date.available2023-02-03T15:06:38Z
dc.date.issued2021
dc.description.abstractHand-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.en_US
dc.identifier.citationEnebuse, 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.2021.3104514en_US
dc.identifier.issn10.1109/ACCESS.2021.3104514
dc.identifier.urihttps://nru.uncst.go.ug/handle/123456789/7509
dc.language.isoenen_US
dc.publisherIEEE Accessen_US
dc.subjectCalibration targeten_US
dc.subjectCamera-world transformen_US
dc.subjectComputer visionen_US
dc.subjectHand-eye calibrationen_US
dc.subjectRobot hand transformen_US
dc.subjectRotationen_US
dc.subjectTranslationen_US
dc.subjectVision guided roboten_US
dc.titleA Comparative Review of Hand-Eye Calibration Techniques for Vision Guided Robotsen_US
dc.typeArticleen_US
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