Flexible hand-eye calibration for multi-camera systems

Tapio Heikkilä, Mikko Sallinen, Toshio Matsushita, Fumiaki Tomita

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

    11 Citations (Scopus)

    Abstract

    Calibration of coordinate systems between cameras and robots, i.e. hand- eye-calibration, is of key importance in sensor based robotics.We present a method, which is based on using very simple, conic calibration object, and results in fast and simple calculations.It originates from the pose estimation algorithms and contributes to earlier methods by robustness to the location of the calibration object and simplicity from the point of view of image processing.Our method is also based on Bayesian model, so it provides also estimates for the spatial uncertainties, in the form of covariances of the pose parameters.The algorithm has been tested by simulations and practical experiments.
    Original languageEnglish
    Title of host publicationProceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherIEEE Institute of Electrical and Electronic Engineers
    Pages2292-2297
    ISBN (Print)0-7803-6351-5
    DOIs
    Publication statusPublished - 2000
    MoE publication typeNot Eligible
    EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2000 - Takamatsu, Japan
    Duration: 31 Oct 20005 Nov 2000

    Conference

    ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2000
    CountryJapan
    CityTakamatsu
    Period31/10/005/11/00

    Fingerprint

    calibration
    robotics
    image processing
    sensor
    simulation
    method
    experiment
    co-ordinate system
    calculation
    parameter

    Cite this

    Heikkilä, T., Sallinen, M., Matsushita, T., & Tomita, F. (2000). Flexible hand-eye calibration for multi-camera systems. In Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2292-2297). IEEE Institute of Electrical and Electronic Engineers . https://doi.org/10.1109/IROS.2000.895310
    Heikkilä, Tapio ; Sallinen, Mikko ; Matsushita, Toshio ; Tomita, Fumiaki. / Flexible hand-eye calibration for multi-camera systems. Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE Institute of Electrical and Electronic Engineers , 2000. pp. 2292-2297
    @inproceedings{290af1a7193c42388de5e24bb4bb4373,
    title = "Flexible hand-eye calibration for multi-camera systems",
    abstract = "Calibration of coordinate systems between cameras and robots, i.e. hand- eye-calibration, is of key importance in sensor based robotics.We present a method, which is based on using very simple, conic calibration object, and results in fast and simple calculations.It originates from the pose estimation algorithms and contributes to earlier methods by robustness to the location of the calibration object and simplicity from the point of view of image processing.Our method is also based on Bayesian model, so it provides also estimates for the spatial uncertainties, in the form of covariances of the pose parameters.The algorithm has been tested by simulations and practical experiments.",
    author = "Tapio Heikkil{\"a} and Mikko Sallinen and Toshio Matsushita and Fumiaki Tomita",
    year = "2000",
    doi = "10.1109/IROS.2000.895310",
    language = "English",
    isbn = "0-7803-6351-5",
    pages = "2292--2297",
    booktitle = "Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems",
    publisher = "IEEE Institute of Electrical and Electronic Engineers",
    address = "United States",

    }

    Heikkilä, T, Sallinen, M, Matsushita, T & Tomita, F 2000, Flexible hand-eye calibration for multi-camera systems. in Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE Institute of Electrical and Electronic Engineers , pp. 2292-2297, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2000, Takamatsu, Japan, 31/10/00. https://doi.org/10.1109/IROS.2000.895310

    Flexible hand-eye calibration for multi-camera systems. / Heikkilä, Tapio; Sallinen, Mikko; Matsushita, Toshio; Tomita, Fumiaki.

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE Institute of Electrical and Electronic Engineers , 2000. p. 2292-2297.

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

    TY - GEN

    T1 - Flexible hand-eye calibration for multi-camera systems

    AU - Heikkilä, Tapio

    AU - Sallinen, Mikko

    AU - Matsushita, Toshio

    AU - Tomita, Fumiaki

    PY - 2000

    Y1 - 2000

    N2 - Calibration of coordinate systems between cameras and robots, i.e. hand- eye-calibration, is of key importance in sensor based robotics.We present a method, which is based on using very simple, conic calibration object, and results in fast and simple calculations.It originates from the pose estimation algorithms and contributes to earlier methods by robustness to the location of the calibration object and simplicity from the point of view of image processing.Our method is also based on Bayesian model, so it provides also estimates for the spatial uncertainties, in the form of covariances of the pose parameters.The algorithm has been tested by simulations and practical experiments.

    AB - Calibration of coordinate systems between cameras and robots, i.e. hand- eye-calibration, is of key importance in sensor based robotics.We present a method, which is based on using very simple, conic calibration object, and results in fast and simple calculations.It originates from the pose estimation algorithms and contributes to earlier methods by robustness to the location of the calibration object and simplicity from the point of view of image processing.Our method is also based on Bayesian model, so it provides also estimates for the spatial uncertainties, in the form of covariances of the pose parameters.The algorithm has been tested by simulations and practical experiments.

    U2 - 10.1109/IROS.2000.895310

    DO - 10.1109/IROS.2000.895310

    M3 - Conference article in proceedings

    SN - 0-7803-6351-5

    SP - 2292

    EP - 2297

    BT - Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems

    PB - IEEE Institute of Electrical and Electronic Engineers

    ER -

    Heikkilä T, Sallinen M, Matsushita T, Tomita F. Flexible hand-eye calibration for multi-camera systems. In Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE Institute of Electrical and Electronic Engineers . 2000. p. 2292-2297 https://doi.org/10.1109/IROS.2000.895310