Optimal hand-eye calibration of IMU and Camera

@article{Yang2017OptimalHC,
  title={Optimal hand-eye calibration of IMU and Camera},
  author={Guang Yang and Long Zhao},
  journal={2017 Chinese Automation Congress (CAC)},
  year={2017},
  pages={1023-1028}
}
Hand-Eye Calibration (HEC) which is necessary in robotics is proposed to determine the relative transformations between the camera and the Inertial Measurement Unit (IMU) in this paper. We know HEC could be degenerated into the problem of solving an optimization issue for the homogeneous matrix composed of rotation and translation. After acquiring an initial estimation with Kronecker product and singular value decomposition, this paper mainly introduces the Gaussian-Newton algorithm in which… CONTINUE READING

Citations

Publications citing this paper.

Humanoid Robot Grasping with a Soft Gripper Through a Learned Inverse Model of a Central Pattern Generator and Tactile Servoing

  • 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
  • 2018
VIEW 1 EXCERPT
CITES BACKGROUND

References

Publications referenced by this paper.
SHOWING 1-10 OF 15 REFERENCES

MEMS IMU for AHRS applications

  • 2008 IEEE/ION Position, Location and Navigation Symposium
  • 2008
VIEW 4 EXCERPTS
HIGHLY INFLUENTIAL

Hand-Eye Calibration

  • I. J. Robotics Res.
  • 1995
VIEW 4 EXCERPTS
HIGHLY INFLUENTIAL

Robot Head-Eye calibration using the Minimum Variance method

  • 2010 IEEE International Conference on Robotics and Biomimetics
  • 2010
VIEW 3 EXCERPTS
HIGHLY INFLUENTIAL

Hand-eye calibration using convex optimization

  • 2011 IEEE International Conference on Robotics and Automation
  • 2011
VIEW 3 EXCERPTS

Optimal Hand-Eye Calibration

  • 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2006
VIEW 1 EXCERPT

Similar Papers

Loading similar papers…