Research on hand-eye calibration method based on stereo vision for harvesting robot

Haiming Xu; Leiming Ding; Pin Lu; Rui Jiang; Yafei Yan; Danyang Zhao; Rujing Wang; Bingyu Sun; Wenqiang Wang; Zhengyong Zhang

doi:10.1117/12.2514709

6 February 2019 Research on hand-eye calibration method based on stereo vision for harvesting robot

Haiming Xu, Leiming Ding, Pin Lu, Rui Jiang, Yafei Yan, Danyang Zhao, Rujing Wang, Bingyu Sun, Wenqiang Wang, Zhengyong Zhang

Author Affiliations +

Proceedings Volume 10842, 9th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Subdiffraction-limited Plasmonic Lithography and Innovative Manufacturing Technology; 108420M (2019) https://doi.org/10.1117/12.2514709
Event: Ninth International Symposium on Advanced Optical Manufacturing and Testing Technologies (AOMATT2018), 2018, Chengdu, China

Abstract

In the field of harvesting robot control with vision feedback, hand-eye system calibration is very important which directly affects the precision of the task. Aiming at the feature that the vision of harvesting robot is fixed, a hand-eye system calibration method was developed. In the proposed method, by making use of the stereo vision to obtain coordinates of the target point in the robot coordinate system, and combining robot motion parameters, the calibration equations can be established first, and the eye-to-hand systems can be further calibrated based on improved least square method. This calibration process is simple, and does not need complex auxiliary devices. Related experiments have been done based on the suggested method to obtain the transformation matrix between hand-eye systems calibration, which has been shown to be of precision and efficiency.

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Haiming Xu, Leiming Ding, Pin Lu, Rui Jiang, Yafei Yan, Danyang Zhao, Rujing Wang, Bingyu Sun, Wenqiang Wang, and Zhengyong Zhang "Research on hand-eye calibration method based on stereo vision for harvesting robot", Proc. SPIE 10842, 9th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Subdiffraction-limited Plasmonic Lithography and Innovative Manufacturing Technology, 108420M (6 February 2019); https://doi.org/10.1117/12.2514709

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KEYWORDS

Calibration

Cameras

Imaging systems

Robotic systems

Robot vision

Stereo vision systems

3D vision

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