Abstract

To retrieve the 3D coordinates of an object in the robot workspace is a fundamental capability for industrial and service applications. This can be achieved by means of a camera mounted on the robot end-effector only if the hand-eye transformation is known. The standard calibration process requires to view a calibration pattern, e.g. a checkerboard, from several different perspectives. This work extends the standard approach performing calibration pattern localization and hand-eye calibration in a fully automatic way. A two phase procedure has been developed and tested in both simulated and real scenarios, demonstrating that the automatic calibration reaches the same performance level of a standard procedure, while avoiding any human intervention. As a final contribution, the source code for an automatic and robust calibration is released.

Software

Here, you can find the ROS project hand_eye_calib.

Licence

The software is freely available for academic use.
For questions about the tool, please contact This email address is being protected from spambots. You need JavaScript enabled to view it..

Reference

@inproceedings{antonello2017autohandeye,
  title={A Fully Automatic Hand-Eye Calibration System},
  author={Antonello, Morris and Gobbi, Andrea and Michieletto, Stefano and Ghidoni, Stefano and Menegatti, Emanuele},
  booktitle={To appear in Mobile Robots (ECMR), 2017 European Conference on},
  year={2017},
}