Structure-from-Motion Based Hand-Eye Calibration Using L∞ Minimization
Abstract
This paper presents a novel method for so-called hand-eye calibration. Using a calibration target is not possible for many applications of hand-eye calibration. In such situations Structure-from-Motion approach of hand-eye calibration is commonly used to recover the camera poses up to scaling. The presented method takes advantage of recent results in the L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> -norm optimization using Second-Order Cone Programming (SOCP) to recover the correct scale. Further, the correctly scaled displacement of the hand-eye transformation is recovered solely from the image correspondences and robot measurements, and is guaranteed to be globally optimal with respect to the L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> -norm. The method is experimentally validated using both synthetic and real world datasets.
Cite
Text
Heller et al. "Structure-from-Motion Based Hand-Eye Calibration Using L∞ Minimization." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2011. doi:10.1109/CVPR.2011.5995629Markdown
[Heller et al. "Structure-from-Motion Based Hand-Eye Calibration Using L∞ Minimization." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2011.](https://mlanthology.org/cvpr/2011/heller2011cvpr-structure/) doi:10.1109/CVPR.2011.5995629BibTeX
@inproceedings{heller2011cvpr-structure,
title = {{Structure-from-Motion Based Hand-Eye Calibration Using L∞ Minimization}},
author = {Heller, Jan and Havlena, Michal and Sugimoto, Akihiro and Pajdla, Tomás},
booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
year = {2011},
pages = {3497-3503},
doi = {10.1109/CVPR.2011.5995629},
url = {https://mlanthology.org/cvpr/2011/heller2011cvpr-structure/}
}