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)


    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
    ISBN (Print)0-7803-6351-5
    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


    ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2000


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