An Efficient Calibration Method of Line Structured Light Vision Sensor in Robotic Eye-in-Hand System

For line structured light vision sensor in robotic eye-in-hand system, the calibration of camera parameters, robot hand eye parameters and structured light plane parameters is an indispensable procedure before conducting 3-D measurement. Traditionally, these three sets of parameters are calibrated s...

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Bibliographic Details
Published inIEEE sensors journal Vol. 20; no. 11; pp. 6200 - 6208
Main Authors Wang, Zhe, Fan, Junfeng, Jing, Fengshui, Deng, Sai, Zheng, Mingyang, Tan, Min
Format Journal Article
LanguageEnglish
Published New York IEEE 01.06.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Calibration
Cameras
End effectors
Parameters
Robot kinematics
Robot sensing systems
Robotic hand eye system
Robots
sensor calibration
simultaneous calibration
structured light vision
Target recognition
Vision
Vision sensors
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Summary:For line structured light vision sensor in robotic eye-in-hand system, the calibration of camera parameters, robot hand eye parameters and structured light plane parameters is an indispensable procedure before conducting 3-D measurement. Traditionally, these three sets of parameters are calibrated separately, making the calibration process complicated and inefficient. To address this, an efficient calibration method is proposed in this paper. By changing the poses of robot and calibration target, a set of images of the calibration target is captured, upon which the camera calibration is conducted. The extrinsic parameters obtained from camera calibration are utilized in the calibration of the structured light plane parameters and hand eye parameters, using the same set of images. Therefore, the three sets of parameters can be simultaneously calibrated with simple on-site operations. Moreover, the calibration target used in this method is only a planar checkerboard, which can be easily acquired at low cost. It is verified in the experiment that the proposed method is efficient and accurate, with the calibration duration within 10 minutes and the measurement accuracy within 0.40mm. Additionally, object pose measurement experiment is conducted to validate the effectiveness of the proposed method in practical application.
ISSN:1530-437X
1558-1748
DOI:10.1109/JSEN.2020.2975538