OPTIMIZATION OF HAND-TO-CAMERA CALIBRATION USING GEOMETRICAL INTERPRETATION OF MATRIX EQUATION AX = XB
Giovanni Legnani
Keywords
Hand-to-camera calibration, AX = XB, manipulator calibration
Abstract
The paper investigates the hand-to-camera calibration which requires
the solution of a set of simultaneous matrix equations in the form
AX = XB. This problem is common in cases in which a manipulator
moves a camera (or a sensor) to measure the poses of objects.
The geometrical interpretation of the equation suggests the best
poses from which to collect data for an optimized hand-to-camera
calibration to minimize the estimation error. Conditions for optimal
poses location are highlighted and a new quality index Q is proposed
to represent the quality of the choice. After both a review of
the problem using results from the literature and a theoretical
introduction, a numerical case is presented to clarify and to validate
the methodology.
Important Links:
Go Back
