Easy accurate calibration method for eye-in-hand system

QI Fang; XI Feng

doi:10.13873/j.1000-97872006.01.010

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Easy accurate calibration method for eye-in-hand system

更新时间：2025-09-11

- Easy accurate calibration method for eye-in-hand system
- Issue 1, Pages: 27-29(2006)
- 作者机构：
  
  1. 哈尔滨工业大学深圳研究生院控制理论与控制工程系
  2. 哈尔滨工业大学深圳研究生院控制理论与控制工程系,广东,深圳,518055
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872006.01.010
  CLC： TP242
- Published：2006
- 稿件说明：
移动端阅览
[1]戚芳,席锋.简便高精度的机器人手眼视觉标定方法[J].传感器与微系统,2006(01):27-29.

QI Fang, XI Feng. Easy accurate calibration method for eye-in-hand system[J]. 2006, (1): 27-29.
[1]戚芳,席锋.简便高精度的机器人手眼视觉标定方法[J].传感器与微系统,2006(01):27-29. DOI： 10.13873/j.1000-97872006.01.010.

QI Fang, XI Feng. Easy accurate calibration method for eye-in-hand system[J]. 2006, (1): 27-29. DOI： 10.13873/j.1000-97872006.01.010.

摘要

对摄像机成像模型进行了分析

论述了机器人手眼系统标定原理。在此基础上

不改变机器人的外臂与基坐标系的旋转关系

设计了一种机器人手眼视觉的标定方法

与传统的方法比较

它不需要预先标定摄像机的内外参数。实验证明:该方法具有算法方便快捷、实验过程简单易行

且精度高等优点

可用于机器人进行运动目标定位与跟踪。

Abstract

The imaging model of the camera is analyzed;the calibration principle of robot eye-in-hand system is discussed.Based on this principle

a calibration method for eye-in-hand system is schemed out.Compared with the traditional method in which the inner and outer parameters of the camera should be calibrated in advance

the experiments prove that this algorithm is quick and convenient to be applied;the experimental procedure is simple and it has high precision.It can be used to locate and track a moving object in robot vision system.

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references

机器人视觉的“手-眼”关系快速标定算法 [J]. 朱振友,徐爱杰,林涛,陈善本. 光学技术 . 2004(02)

手眼立体视觉的算法与实现 [J]. 熊春山,黄心汉,王敏. 机器人 . 2001(02)

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