基于二阶锥规划无标定参照物的手眼标定

李巍; 董明利; 娄小平

doi:10.3788/OPE.20182610.2536

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基于二阶锥规划无标定参照物的手眼标定

信息科学 | 更新时间：2020-07-05

- 基于二阶锥规划无标定参照物的手眼标定
- Hand-eye calibration method without a calibration reference based on second-order cone programming
- 光学精密工程 2018年26卷第10期页码：2536-2545
- 作者机构：
  
  1.北京邮电大学信息光子学与光通信研究院, 北京 100876
  2.北京信息科技大学光电测试技术北京市重点实验室, 北京 100192
- 作者简介：
  
  [ "李巍(1988-), 男, 河北承德人, 博士研究生, 2011年于北华航天工业学院获得学士学位, 2015年于北京信息科技大学获得硕士学位, 主要从事机器视觉及模式识别方面的研究。E-mail:liweikilary@163.com" ]
- 基金信息：
  
  国家自然科学基金资助项目(51475046);光电测试技术北京市重点实验室开放课题资助项目(GDKF2016005)
- DOI：10.3788/OPE.20182610.2536
  中图分类号： TP24
- 收稿日期：2018-01-31，
  
  录用日期：2018-3-2，
  
  纸质出版日期：2018-10-25
- 稿件说明：
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李巍, 董明利, 娄小平. 基于二阶锥规划无标定参照物的手眼标定[J]. 光学精密工程, 2018,26(10):2536-2545.

Wei LI, Ming-li DONG, Xiao-ping LOU. Hand-eye calibration method without a calibration reference based on second-order cone programming[J]. Optics and precision engineering, 2018, 26(10): 2536-2545.
李巍, 董明利, 娄小平. 基于二阶锥规划无标定参照物的手眼标定[J]. 光学精密工程, 2018,26(10):2536-2545. DOI： 10.3788/OPE.20182610.2536.

Wei LI, Ming-li DONG, Xiao-ping LOU. Hand-eye calibration method without a calibration reference based on second-order cone programming[J]. Optics and precision engineering, 2018, 26(10): 2536-2545. DOI： 10.3788/OPE.20182610.2536.

摘要

为了克服传统机器人手眼标定方法求解手眼关系及机器人坐标系与世界坐标系方位关系对标定参照物的依赖，提出一种基于二阶锥规划的无标定参照物手眼标定改进方法，并搭建相关实验系统进行验证。首先，利用运动恢复结构算法解算定义在一个尺度因子基础上的相机运动矩阵；然后，引入对偶四元数理论参数化标定方程中的旋转矩阵和平移向量；最后，通过二阶锥规划方法同时求解相机运动矩阵尺度因子、手眼关系及机器人坐标系与世界坐标系方位关系的最优解。仿真和实测结果表明，在没有标定参照物作为测量基准的情况下，标定结果中旋转参数相对误差为3.998%，平移参数相对误差为0.117%。与其他标定方法相比，该方法提高了无标定参照物模式下机器人手眼标定精度，扩展了手眼标定方法的应用范围。

Abstract

In order to overcome the restrictions of traditional hand-eye methods for determining hand-eye correspondence and robot-world orientation with a calibration reference

an improved hand-eye calibration approach without a calibration reference is proposed based on second-order cone programming. A relevant experimental system is established for its validation. First

a structure-from-motion approach is used to recover the camera motion matrix up to scaling. Then

the rotation and translation matrix in the calibration equation is parameterized by dual quaternion theory. Finally

the second-order cone programming method is used to simultaneously determine the optimal solution for the scale factor of the camera motion matrix

the robot-world calibration and the hand-eye calibration. Both the simulation and experimental results indicate that

for the calibration precision

the relative error of rotation is 3.998% and the relative error of translation is 0.117% in the absence of a calibration reference as a benchmark. Compared with other calibration methods

the proposed method can effectively improve the accuracy of robot-world calibration and hand-eye calibration without a reference

and extend the range of applications of the hand-eye calibration method.

关键词

Keywords

references

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