ML Anthology

A Branch-and-Bound Algorithm for Globally Optimal Hand-Eye Calibration

Jan Heller, Michal Havlena, Tomás Pajdla
CVPR 2012 pp. 1608-1615
doi:10.1109/CVPR.2012.6247853 /cvpr/2012/heller2012cvpr-branch/

Abstract

This paper introduces a novel solution to hand-eye calibration problem. It is the first method that uses camera measurements directly and at the same time requires neither prior knowledge of the external camera calibrations nor a known calibration device. Our algorithm uses branch-and-bound approach to minimize an objective function based on the epipolar constraint. Further, it employs Linear Programming to decide the bounding step of the algorithm. The presented technique is able to recover both the unknown rotation and translation simultaneously and the solution 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.

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Cite

Text

Heller et al. "A Branch-and-Bound Algorithm for Globally Optimal Hand-Eye Calibration." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2012. doi:10.1109/CVPR.2012.6247853

Markdown

[Heller et al. "A Branch-and-Bound Algorithm for Globally Optimal Hand-Eye Calibration." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2012.](https://mlanthology.org/cvpr/2012/heller2012cvpr-branch/) doi:10.1109/CVPR.2012.6247853

BibTeX

@inproceedings{heller2012cvpr-branch,
  title     = {{A Branch-and-Bound Algorithm for Globally Optimal Hand-Eye Calibration}},
  author    = {Heller, Jan and Havlena, Michal and Pajdla, Tomás},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {2012},
  pages     = {1608-1615},
  doi       = {10.1109/CVPR.2012.6247853},
  url       = {https://mlanthology.org/cvpr/2012/heller2012cvpr-branch/}
}