ML Anthology

Globally Optimal Hand-Eye Calibration

Thomas Ruland, Tomás Pajdla, Lars Krüger
CVPR 2012 pp. 1035-1042
doi:10.1109/CVPR.2012.6247781 /cvpr/2012/ruland2012cvpr-globally/

Abstract

This paper introduces simultaneous globally optimal hand-eye self-calibration in both its rotational and translational components. The main contributions are new feasibility tests to integrate the hand-eye calibration problem into a branch-and-bound parameter space search. The presented method constitutes the first guaranteed globally optimal estimator for simultaneous optimization of both components with respect to a cost function based on reprojection errors. The system is evaluated in both synthetic and real world scenarios. The employed benchmark dataset is published online <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> to create a common point of reference for evaluation of hand-eye self-calibration algorithms.

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Cite

Text

Ruland et al. "Globally Optimal Hand-Eye Calibration." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2012. doi:10.1109/CVPR.2012.6247781

Markdown

[Ruland et al. "Globally Optimal Hand-Eye Calibration." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2012.](https://mlanthology.org/cvpr/2012/ruland2012cvpr-globally/) doi:10.1109/CVPR.2012.6247781

BibTeX

@inproceedings{ruland2012cvpr-globally,
  title     = {{Globally Optimal Hand-Eye Calibration}},
  author    = {Ruland, Thomas and Pajdla, Tomás and Krüger, Lars},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {2012},
  pages     = {1035-1042},
  doi       = {10.1109/CVPR.2012.6247781},
  url       = {https://mlanthology.org/cvpr/2012/ruland2012cvpr-globally/}
}