A hand-eye calibration approach to reduce the positioning error of 6-DOF robot vision system

Tao Zhou; Jizhuang Hui; Kai Ding; Yaqian Zhang; Jinhao Wang

doi:10.1117/12.2680798

23 May 2023 A hand-eye calibration approach to reduce the positioning error of 6-DOF robot vision system

Tao Zhou, Jizhuang Hui, Kai Ding, Yaqian Zhang, Jinhao Wang

Proceedings Volume 12645, International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023); 1264512 (2023) https://doi.org/10.1117/12.2680798
Event: International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023), 2023, Hangzhou, China

Abstract

With the increasing application of computer vision in robot systems, it is vital to improve the positioning accuracy of robot end-effectors. Hand-eye calibration is the first step to realize it. However, in the process of calibration, there are some accidental factors leading to inaccurate calibration. In this paper, a data-driven hand-eye calibration approach based on Zhang's calibration method is proposed to complete eye-in-hand calibration. Re-projection error is used as an evaluate index to evaluate the positioning error. The calibration data with errors greater than the average error were filtered to reduce the accidental errors caused by uncertain factors. Finally, taking AUBO I5 collaborative robot as an example to verify the feasibility and effectiveness of the proposed approach. It shows that our approach can improve the positioning accuracy of the robot system.

Citation Download Citation

Tao Zhou, Jizhuang Hui, Kai Ding, Yaqian Zhang, and Jinhao Wang "A hand-eye calibration approach to reduce the positioning error of 6-DOF robot vision system", Proc. SPIE 12645, International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023), 1264512 (23 May 2023); https://doi.org/10.1117/12.2680798

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KEYWORDS

Calibration

Matrices

Imaging systems

Cameras

Distortion

Image processing

Robotic systems

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