Active self-calibration of robotic eyes and hand-eye relationships with model identification

We first review research results of camera self-calibration achieved in photogrammetry, robotics and computer vision. Then we propose a method for self-calibration of robotic hand cameras by means of active motion. Through tracking a set of world points of unknown coordinates during robot motion, the internal parameters of the cameras (including distortions), the mounting parameters as well as the coordinates of the world points are estimated. The approach is fully autonomous, in that no initial guesses of the unknown parameters are to be provided from the outside by humans for the solution of a set of nonlinear equations. Sufficient conditions for a unique solution are derived in terms of controlled motion sequences. Methods to improve accuracy and robustness are proposed by means of best model identification and motion planning. Experimental results in both a simulated and a real environments are reported.

[1]  Songde Ma,et al.  A self-calibration technique for active vision systems , 1996, IEEE Trans. Robotics Autom..

[2]  Anup Basu,et al.  Active calibration of cameras: theory and implementation , 1995, IEEE Trans. Syst. Man Cybern..

[3]  W. Föstner.  Reliability analysis of parameter estimation in linear models with application to mensuration problems in computer vision , 1987 .

[4]  David Mautner Himmelblau,et al.  Process analysis by statistical methods , 1970 .

[5]  Roger Y. Tsai,et al.  A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses , 1987, IEEE J. Robotics Autom..

[6]  O. D. Faugeras,et al.  Camera Self-Calibration: Theory and Experiments , 1992, ECCV.

[7]  Roger Y. Tsai,et al.  Techniques for calibration of the scale factor and image center for high accuracy 3D machine vision metrology , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[8]  Olivier D. Faugeras,et al.  An optimization framework for efficient self-calibration and motion determination , 1994, Proceedings of 12th International Conference on Pattern Recognition.

[9]  John M. Hollerbach,et al.  Autonomous calibration of single-loop closed kinematic chains formed by manipulators with passive endpoint constraints , 1991, IEEE Trans. Robotics Autom..

[10]  Paul R. Cohen,et al.  Camera Calibration with Distortion Models and Accuracy Evaluation , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[11]  Long Quan,et al.  Relative 3D Reconstruction Using Multiple Uncalibrated Images , 1995, Int. J. Robotics Res..

[12]  Yiu Cheung Shiu,et al.  Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB , 1989, IEEE Trans. Robotics Autom..

[13]  Yiu Cheung Shiu,et al.  A noise-tolerant algorithm for robotic hand-eye calibration with or without sensor orientation measurement , 1993, IEEE Trans. Syst. Man Cybern..

[14]  W. Press,et al.  Numerical Recipes in Fortran: The Art of Scientific Computing.@@@Numerical Recipes in C: The Art of Scientific Computing. , 1994 .

[15]  W. Faig.  CALIBRATION OF CLOSE-RANGE PHOTOGRAMMETRIC SYSTEMS: MATHEMATICAL FORMULATION , 1975 .

[16]  Olivier Faugeras,et al.  Self-calibration of a camera using multiple images , 1992, [1992] Proceedings. 11th IAPR International Conference on Pattern Recognition.

[17]  C. Radhakrishna Rao,et al.  Linear Statistical Inference and its Applications, Second Editon , 1973, Wiley Series in Probability and Statistics.

[18]  Songde Ma,et al.  Implicit and Explicit Camera Calibration: Theory and Experiments , 1994, IEEE Trans. Pattern Anal. Mach. Intell..

[19]  William H. Press,et al.  Numerical Recipes in C The Art of Scientific Computing , 1995 .

[20]  Juyang Weng,et al.  Calibration of stereo cameras using a non-linear distortion model (CCD sensory) , 1990, [1990] Proceedings. 10th International Conference on Pattern Recognition.

[21]  Gerd Hirzinger,et al.  Sensor-based space robotics-ROTEX and its telerobotic features , 1993, IEEE Trans. Robotics Autom..

[22]  John M. Hollerbach,et al.  Autonomous Robot Calibration for Hand-Eye Coordination , 1991, Int. J. Robotics Res..

[23]  Yuh-Lin Chang,et al.  Adaptive self-calibration of vision-based robot systems , 1989, IEEE Trans. Syst. Man Cybern..

[24]  Roger Y. Tsai,et al.  Techniques for Calibration of the Scale Factor and Image Center for High Accuracy 3-D Machine Vision Metrology , 1988, IEEE Trans. Pattern Anal. Mach. Intell..

[25]  Hanqi Zhuang,et al.  Simultaneous calibration of a robot and a hand-mounted camera , 1993, IEEE Trans. Robotics Autom..

[26]  G. Hirzinger,et al.  Real-time visual servoing for laparoscopic surgery. Controlling robot motion with color image segmentation , 1997, IEEE Engineering in Medicine and Biology Magazine.

[27]  F. A. Seiler,et al.  Numerical Recipes in C: The Art of Scientific Computing , 1989 .

[28]  Ching-Cheng Wang,et al.  Extrinsic calibration of a vision sensor mounted on a robot , 1992, IEEE Trans. Robotics Autom..

[29]  Pearl Pu,et al.  A New Development in Camera Calibration: Calibrating a Pair of Mobile Cameras , 1987 .

[30]  Michael Brady,et al.  Self-calibration of the intrinsic parameters of cameras for active vision systems , 1993, Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[31]  Pearl Pu,et al.  A new development in camera calibration calibrating a pair of mobile cameras , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[32]  Roger Y. Tsai,et al.  A new technique for fully autonomous and efficient 3D robotics hand/eye calibration , 1988, IEEE Trans. Robotics Autom..

[33]  S DeMa,et al.  A self-calibration technique for active vision systems , 1996 .

[34]  Calyampudi R. Rao,et al.  Linear statistical inference and its applications , 1965 .

[35]  Calyampudi Radhakrishna Rao,et al.  Linear Statistical Inference and its Applications , 1967 .