An overview of hand-eye calibration

Due to the increase in the difficulty and diversity of tasks performed by robots, robot “hand-eye” collaborative operation has attracted widespread attention. This technology is widely used in aerospace, medical, automotive, and industrial fields. Recently, hand-eye calibration technology is develop...

Full description

Saved in:
Bibliographic Details
Published in:International journal of advanced manufacturing technology 2022-03, Vol.119 (1-2), p.77-97
Main Authors: Jiang, Jianfeng, Luo, Xiao, Luo, Qingsheng, Qiao, Lijun, Li, Minghao
Format: Article
Language:English
Subjects:
Aerospace industry
Algorithms
CAE) and Design
Calibration
Cameras
Computer-Aided Engineering (CAD
Critical Review
Engineering
Identification methods
Industrial and Production Engineering
Mechanical Engineering
Media Management
Optimization
Parameter identification
Robots
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Due to the increase in the difficulty and diversity of tasks performed by robots, robot “hand-eye” collaborative operation has attracted widespread attention. This technology is widely used in aerospace, medical, automotive, and industrial fields. Recently, hand-eye calibration technology is developing towards high precision and high intelligence. However, it has much work to be done in terms of identifying robot and camera parameters. This article introduces in detail the methods and theories involved in hand-eye calibration. According to the structure of the algorithm and the type of the optimization method, this paper summarizes the hand-eye calibration method into four steps: camera pose, mechanical claw pose, mathematical model, and error metrics. The well-known open problems about hand-eye calibration are finally stated, and some new research interests are also pointed out. The results of this review are useful for robot technicians to choose the correct parameter identification method and for researchers to determine further research areas.
ISSN:0268-3768
1433-3015
DOI:10.1007/s00170-021-08233-6