Optimal Hand-Eye Calibration of IMU and Camera

被引:0
作者
Yang, Guang [1 ]
Zhao, Long [1 ]
机构
[1] Beihang Univ, Digital Nav Ctr, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
来源
2017 CHINESE AUTOMATION CONGRESS (CAC) | 2017年
基金
北京市自然科学基金; 中国国家自然科学基金;
关键词
Hand-Eye Calibration; Jacobian; optimization; Lie algebra;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Hand-Eye Calibration (HEC) which is necessary in robotics is proposed to determine the relative transformations between the camera and the Inertial Measurement Unit (IMU) in this paper. We know HEC could be degenerated into the problem of solving an optimization issue for the homogeneous matrix composed of rotation and translation. After acquiring an initial estimation with Kronecker product and singular value decomposition, this paper mainly introduces the Gaussian-Newton algorithm in which the Jacobian matrix is calculated by Lie algebra to optimize the estimation. The optimization presented in this paper is executed on realistic data and the experimental results show our algorithm brings an improvement on the initial value and obtains more precise results than the other optimization using classical computation of Jacobian matrix.
引用
收藏
页码:1023 / 1028
页数:6
相关论文
共 16 条
[1]  
[Anonymous], INT J ROBOTICS RES
[2]  
Faddeev L., 1988, ALGEBRAIC ANAL, VI, P129
[3]  
Fassi Irene, 2010, J FIELD ROBOT, V22, P497
[4]  
Geiger W., 2008, 2008 IEEE/ION Position, Location and Navigation Symposium - PLANS 2008, P225, DOI 10.1109/PLANS.2008.4569973
[5]   Hand-eye calibration with a new linear decomposition algorithm [J].
Liang, Rong-hua ;
Mao, Jian-fei .
JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE A, 2008, 9 (10) :1363-1368
[6]  
Shi FH, 2005, LECT NOTES COMPUT SC, V3522, P647
[7]  
Sin-Jung Kim, 2010, 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO), P1446, DOI 10.1109/ROBIO.2010.5723542
[8]   Optimal hand-eye calibration [J].
Strobl, Klaus H. ;
Hirzinger, Gerd .
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, :4647-+
[9]   A NEW TECHNIQUE FOR FULLY AUTONOMOUS AND EFFICIENT 3D ROBOTICS HAND EYE CALIBRATION [J].
TSAI, RY ;
LENZ, RK .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1989, 5 (03) :345-358
[10]   A flexible new technique for camera calibration [J].
Zhang, ZY .
IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, 2000, 22 (11) :1330-1334