Error Correctable Hand-Eye Calibration for Stripe-Laser Vision-Guided Robotics

Abstract

The stripe-laser vision guidance technology has received more and more attention in industry and academia. The hand–eye calibration technology plays an important role in the applications of the stripe-laser vision-guided robotics. Most existing hand–eye calibration methods impose orthogonality constraints. However, the orthogonality in hand–eye relationship may not be true when the stripe-laser sensor has errors. This makes the final guiding error inevitable. In this article, an error correctable (EC) hand–eye calibration method based on the linear properties of the central projection for the stripe-laser vision sensor guidance system is proposed. In this method, the measurements of a vision sensor with errors can be corrected to the right tool center point coordinates. Experiments involving synthetic and real data confirm that the proposed hand–eye calibration method is robust to the vision sensor errors.