Hand/eye calibration using 3D-3D correspondences

Dong Whan Kim; Jong Eun Ha

doi:10.4028/www.scientific.net/AMM.319.532

Hand/eye calibration using 3D-3D correspondences

Dong Whan Kim, Jong Eun Ha

Dept. of Mechanical & Automotive Engineering

Seoul National University of Science and Technology (SNUST)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

In industrial application, robots do the operations that have predefined location taught by teaching pendant. Recently, sensors including camera and laser range finder are used together with robot to expand the capabilities of the robot. Hand/eye calibration is the first necessary step to transform sensor based measurements into the robot coordinate system. Traditional hand/eye calibration algorithm used known robot motions. Kinect is used as the 3D sensor and chessboard markers are attached on the robot's arm. In this paper, we solve hand/eye calibration using 3D-3D correspondences.

Original language	English
Title of host publication	Chemical, Mechanical and Materials Engineering II
Pages	532-535
Number of pages	4
DOIs	https://doi.org/10.4028/www.scientific.net/AMM.319.532
State	Published - 2013
Event	2013 2nd International Conference on Chemical, Mechanical and Materials Engineering, CMME 2013 - Melbourne, VIC, Australia Duration: 20 Jan 2013 → 21 Jan 2013

Publication series

Name	Applied Mechanics and Materials
Volume	319
ISSN (Print)	1660-9336
ISSN (Electronic)	1662-7482

Conference

Conference	2013 2nd International Conference on Chemical, Mechanical and Materials Engineering, CMME 2013
Country/Territory	Australia
City	Melbourne, VIC
Period	20/01/13 → 21/01/13

Keywords

Hand/eye calibration
Manipulation
Robot arm

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.4028/www.scientific.net/AMM.319.532

Cite this

@inproceedings{730aa8e591ae47399e546491e13c36bc,

title = "Hand/eye calibration using 3D-3D correspondences",

abstract = "In industrial application, robots do the operations that have predefined location taught by teaching pendant. Recently, sensors including camera and laser range finder are used together with robot to expand the capabilities of the robot. Hand/eye calibration is the first necessary step to transform sensor based measurements into the robot coordinate system. Traditional hand/eye calibration algorithm used known robot motions. Kinect is used as the 3D sensor and chessboard markers are attached on the robot's arm. In this paper, we solve hand/eye calibration using 3D-3D correspondences.",

keywords = "Hand/eye calibration, Manipulation, Robot arm",

author = "Kim, \{Dong Whan\} and Ha, \{Jong Eun\}",

year = "2013",

doi = "10.4028/www.scientific.net/AMM.319.532",

language = "English",

isbn = "9783037856864",

series = "Applied Mechanics and Materials",

pages = "532--535",

booktitle = "Chemical, Mechanical and Materials Engineering II",

note = "2013 2nd International Conference on Chemical, Mechanical and Materials Engineering, CMME 2013 ; Conference date: 20-01-2013 Through 21-01-2013",

}

Kim, DW & Ha, JE 2013, Hand/eye calibration using 3D-3D correspondences. in Chemical, Mechanical and Materials Engineering II. Applied Mechanics and Materials, vol. 319, pp. 532-535, 2013 2nd International Conference on Chemical, Mechanical and Materials Engineering, CMME 2013, Melbourne, VIC, Australia, 20/01/13. https://doi.org/10.4028/www.scientific.net/AMM.319.532

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AU - Ha, Jong Eun

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N2 - In industrial application, robots do the operations that have predefined location taught by teaching pendant. Recently, sensors including camera and laser range finder are used together with robot to expand the capabilities of the robot. Hand/eye calibration is the first necessary step to transform sensor based measurements into the robot coordinate system. Traditional hand/eye calibration algorithm used known robot motions. Kinect is used as the 3D sensor and chessboard markers are attached on the robot's arm. In this paper, we solve hand/eye calibration using 3D-3D correspondences.

AB - In industrial application, robots do the operations that have predefined location taught by teaching pendant. Recently, sensors including camera and laser range finder are used together with robot to expand the capabilities of the robot. Hand/eye calibration is the first necessary step to transform sensor based measurements into the robot coordinate system. Traditional hand/eye calibration algorithm used known robot motions. Kinect is used as the 3D sensor and chessboard markers are attached on the robot's arm. In this paper, we solve hand/eye calibration using 3D-3D correspondences.

KW - Hand/eye calibration

KW - Manipulation

KW - Robot arm

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U2 - 10.4028/www.scientific.net/AMM.319.532

DO - 10.4028/www.scientific.net/AMM.319.532

M3 - Conference contribution

AN - SCOPUS:84879716873

SN - 9783037856864

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BT - Chemical, Mechanical and Materials Engineering II

T2 - 2013 2nd International Conference on Chemical, Mechanical and Materials Engineering, CMME 2013

Y2 - 20 January 2013 through 21 January 2013

ER -

Hand/eye calibration using 3D-3D correspondences

Abstract

Publication series

Conference

Keywords

UN SDGs

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