Calibration of refueling robot based on binocular vision

Zixuan Guo; Zhaohaoran Zhang; Jinghui Zhang; Yi Zhang; Jiayu Liu

doi:10.1117/12.3009555

16 October 2023 Calibration of refueling robot based on binocular vision

Zixuan Guo, Zhaohaoran Zhang, Jinghui Zhang, Yi Zhang, Jiayu Liu

Proceedings Volume 12803, Fifth International Conference on Artificial Intelligence and Computer Science (AICS 2023); 1280322 (2023) https://doi.org/10.1117/12.3009555
Event: 2023 5th International Conference on Artificial Intelligence and Computer Science (AICS 2023), 2023, Wuhan, China

Abstract

This paper presents a comprehensive calibration system, including intrinsic and extrinsic parameters of the camera, hand-eye, and Tool Center Point (TCP) calibration. To improve efficiency and simplify the process, the system only requires two steps to calibrate four parameters and provides errors for each parameter. The entire process does not require any other devices except for one calibration board. This paper suggests using 3D distance as the error for stereo camera calibration and provides suggestions for capturing 15 different angles of images to cover the entire image. In terms of hand-eye calibration, this paper effectively utilizes the stereo camera's 3D reconstruction results and provides intuitive error feedback for TCP calibration. Through practical engineering practice, the calibration system presented in this paper has good application value. The system can meet the application needs of refueling robots and effectively reduce the calibration time to less than 10 minutes.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Zixuan Guo, Zhaohaoran Zhang, Jinghui Zhang, Yi Zhang, and Jiayu Liu "Calibration of refueling robot based on binocular vision", Proc. SPIE 12803, Fifth International Conference on Artificial Intelligence and Computer Science (AICS 2023), 1280322 (16 October 2023); https://doi.org/10.1117/12.3009555

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