An Integrated Two-Pose Calibration Method for Estimating Head-Eye Parameters of a Robotic Bionic Eye

Abstract

Active vision systems with independent eye motion are required to update extrinsic parameters continuously to perform stereo reconstruction. The stereo parameters could be calculated through forward kinematics model plus head-eye parameters of each eye. The head-eye parameters could be calibrated through the traditional head-eye calibration method separately. However, the head-eye calibration method could not reduce the impact of the kinematics model errors, which may cause reconstruction result unacceptable. Instead, we propose an integrated two-pose calibration (ITPC) method to calculate head-eye parameters of both eyes simultaneously to reduce the impact of model error by deriving two new equations from two poses of the robotic bionic eye. The implemented algorithm has been validated on GAZEBO and our robotic bionic eye. The results demonstrate that the head-eye parameters obtained by our method are more accurate and more robust to kinematics model errors. We have also analyzed the reason why the proposed method is better.