Robot Head-Eye calibration using the Minimum Variance method

@article{Kim2010RobotHC,
  title={Robot Head-Eye calibration using the Minimum Variance method},
  author={Sin-Jung Kim and Mun-Ho Jeong and Joong-Jae Lee and Ji-Yong Lee and KangGeon Kim and Bum-Jae You and Sang-Rok Oh},
  journal={2010 IEEE International Conference on Robotics and Biomimetics},
  year={2010},
  pages={1446-1451}
}
This paper presents a calibration method for a robot Head-Eye system which can be used in a humanoid robot vision system. This method estimates the transformation between the robot coordinate and the camera coordinate. The calibration procedure uses visual measurements and kinematic information as the inputs of nonlinear optimization. For this calibration method, an objective function for the optimization, that uses the Minimum Variance method is defined. The procedure of this method is very… CONTINUE READING
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