Robust robot-camera calibration

J. Ilonen; V. Kyrki

doi:10.1109/ICAR.2011.6088553

Robust robot-camera calibration

J. Ilonen^*, V. Kyrki

^*Corresponding author for this work

LUT University

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

22 Citations (Scopus)

Abstract

Calibrating the parameters of a vision system used in robotics is crucial for many tasks where the robot has to physically interact with the environment. This paper introduces a robust method for calibrating the relative poses between the base frame of the robot and one or more cameras. The method is based on tracking a marker attached to the end-effector of the robot and does not require manual bootstrapping. The method is robust to a large number of outliers (incorrectly detected marker positions) and provides an estimate of the uncertainty of the estimated parameters based on the variance of the observed errors, providing information on the accuracy of the estimate. Experimental results demonstrate that highly robust estimates can be obtained with relatively few measurements.

Original language	English
Title of host publication	IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
Pages	67-74
Number of pages	8
DOIs	https://doi.org/10.1109/ICAR.2011.6088553
Publication status	Published - 2011
MoE publication type	A4 Conference publication
Event	International Conference on Advanced Robotics - Tallinn, Estonia Duration: 20 Jun 2011 → 23 Jun 2011 Conference number: 15

Conference

Conference	International Conference on Advanced Robotics
Abbreviated title	ICAR
Country/Territory	Estonia
City	Tallinn
Period	20/06/2011 → 23/06/2011

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10.1109/ICAR.2011.6088553

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title = "Robust robot-camera calibration",

abstract = "Calibrating the parameters of a vision system used in robotics is crucial for many tasks where the robot has to physically interact with the environment. This paper introduces a robust method for calibrating the relative poses between the base frame of the robot and one or more cameras. The method is based on tracking a marker attached to the end-effector of the robot and does not require manual bootstrapping. The method is robust to a large number of outliers (incorrectly detected marker positions) and provides an estimate of the uncertainty of the estimated parameters based on the variance of the observed errors, providing information on the accuracy of the estimate. Experimental results demonstrate that highly robust estimates can be obtained with relatively few measurements.",

author = "J. Ilonen and V. Kyrki",

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language = "English",

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note = "International Conference on Advanced Robotics, ICAR ; Conference date: 20-06-2011 Through 23-06-2011",

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AU - Kyrki, V.

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AB - Calibrating the parameters of a vision system used in robotics is crucial for many tasks where the robot has to physically interact with the environment. This paper introduces a robust method for calibrating the relative poses between the base frame of the robot and one or more cameras. The method is based on tracking a marker attached to the end-effector of the robot and does not require manual bootstrapping. The method is robust to a large number of outliers (incorrectly detected marker positions) and provides an estimate of the uncertainty of the estimated parameters based on the variance of the observed errors, providing information on the accuracy of the estimate. Experimental results demonstrate that highly robust estimates can be obtained with relatively few measurements.

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DO - 10.1109/ICAR.2011.6088553

M3 - Conference article in proceedings

AN - SCOPUS:84255194354

SN - 9781457711589

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EP - 74

BT - IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011

T2 - International Conference on Advanced Robotics

Y2 - 20 June 2011 through 23 June 2011

ER -

Robust robot-camera calibration

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