使用主动视觉的手眼校准

K. Nickels, Eric Huber, M. DiCicco
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引用次数: 5

摘要

本课题设计并实现了一种立体摄像机观测下机械手手眼标定方法。这种方法已经在约翰逊航天中心的Robonaut和喷气推进实验室的行星机械臂模型上得到了应用。校准的目的是为了提高机械手的手眼协调能力。该方法使用运动学和立体视觉测量,即手臂自报告的关节角度和视觉测量的校准夹具的三维位置,来估计从手臂的基础坐标系到手坐标系和视觉坐标系的转换。在这个公式中,假设立体测量是准确的,任何不匹配都吸收在一个修改的手臂模型中。这些方法已被证明可以减少机械宇航员单元A上运动学导出位置和视觉导出位置之间的不匹配,从平均13.75 cm减少到平均1.85 cm。还描述了半自主任务的性能改进。在JPL的机械臂上,其运动学与火星探测车相似,校准将误差从15.26 mm减小到3 mm到5.5 mm之间。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Hand-Eye Calibratilon Using Active Vision
The project described in this paper designed and implemented a hand-eye calibration method for manipulators under observation by stereo cameras. This method has been utilized on Johnson Space Center's Robonaut, and on a planetary manipulator mock-up at the Jet Propulsion Laboratory. The intent of this calibration is to improve the manipulator's hand-eye coordination. The approach uses kinematic and stereo vision measurements, namely the joint angles self-reported by the arm and 3-D positions of a calibration fixture as measured by vision, to estimate the transformation from the arm's base coordinate system to its hand coordinate system and to its vision coordinate system. In this formulation, the stereo measurements are assumed to be accurate, and any mismatches are absorbed in a modified model of the arm. These methods have shown to reduce mismatch between kinematically derived positions and visually derived positions on Robonaut Unit A from a mean of 13.75 cm to a mean of 1.85 cm. Improved performance in semi-autonomous tasks is also described. On JPL's manipulator, with kinematics similar to that of the Mars Exploration Rover, the calibration reduced the mismatch from 15.26 mm to between 3 mm and 5.5 mm.
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