A Fast Calibration Implementation for Multiple Depth Cameras and Manipulator Based on Invariance of the Linear Transformation

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	A Fast Calibration Implementation for Multiple Depth Cameras and Manipulator Based on Invariance of the Linear Transformation
	Du HB(杜惠斌)1,2,3 ; Li YL(李英立)1,2,3; Zhao XG(赵新刚)2,3 ; Wang Z(王争)2,3 ; Zhao YW(赵忆文)2,3
	2018
会议日期	November 30 - December 2, 2018
会议地点	Xi'an, China
关键词	multi RGB-D camera calibration invariance of the linear transformation human-robot interaction
页码	3666-3671
英文摘要	For the safety in the human-robot interaction and co-existence, perceiving dynamic unknown surroundings around the manipulator is basic requirements. To fully monitor the surroundings around the manipulator, multiple depth (RGB-D) cameras are simultaneously used to address the problem of occluded areas. The fast and efficient estimation of the rigid relationship between the manipulator and multiple cameras coordinate frames is essential. In this study, a method based on invariance of the linear transformation was proposed to realize fast calibration for multiple RGB-D cameras and manipulator. Firstly, the centers of the calibration ball were extracted directly from the depth image. Secondly, the motion straight lines of the ball were, respectively, fitted in the robot and multiple cameras coordinate frames. Finally, the analytical solution was obtained by using the invariance of the linear transformation. Two Kinect cameras and a KUKA IIWA manipulator were employed to conduct experiments, and experimental results were presented to validate the performance of the proposed calibration method for multiple RGB-D cameras and manipulator.
产权排序	1
会议录	2018 Chinese Automation Congress (CAC)
语种	英语
ISBN号	978-1-7281-1312-8
WOS记录号	WOS:000459239503134
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23840]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Li YL(李英立)
作者单位	1.University of Chinese Academy of Sciences (UCAS), Beijing, 100049, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences (CAS), Shenyang, Liaoning, 110016, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), Shenyang, Liaoning, 110016, China
推荐引用方式 GB/T 7714	Du HB,Li YL,Zhao XG,et al. A Fast Calibration Implementation for Multiple Depth Cameras and Manipulator Based on Invariance of the Linear Transformation[C]. 见:. Xi'an, China. November 30 - December 2, 2018.