A robot hand-eye calibration method of line laser sensor based on 3D reconstruction |
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Affiliation: | 1. Institute of Electromechanical Engineering, Beijing Information Science & Technology University, 12 Xiaoying East Road, Qinghe, Haidian District, Beijing, 100192, China;2. Key Laboratory of Modern Measurement & Control Technology, Ministry of Education, Beijing Information Science & Technology UniversityNO.12 xiaoying East RoadQinghe, Haidian DistrictBeijing100192ChinaNO.12 xiaoying East Road.;3. National NC System Engineering Research Center, Huazhong University of Science & Technology, 1037 Luoyu Road, Wuhan 430074, China |
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Abstract: | In the robotic eye-in-hand measurement system, a hand-eye calibration method is essential. From the perspective of 3D reconstruction, this paper first analyzes the influence of the line laser sensor hand-eye calibration error on the 3D reconstructed point clouds error. Based on this, considering the influence of line laser sensor measurement errors and the need for high efficiency and convenience in robotic manufacturing systems, this paper proposes a 3D reconstruction-based robot line laser hand-eye calibration method. In this method, combined with the point cloud registration technique, the newly defined error-index more intuitively reflects the calibration result than traditional methods. To raise the performance of the calibration algorithm, a Particle Swarm Optimization - Gaussian Process (PSO-GP) method is adopted to improve the efficiency of the calibration. The experiments show that the Root Mean Square Error (RMSE) of the reconstructed point cloud can reach 0.1256 mm when using the proposed method, and the reprojection error is superior to those using traditional hand-eye calibration methods. |
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Keywords: | Hand-eye calibration Robot measurement 3D reconstruction Point cloud processing Optimization method |
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