Integrating camera calibration and hand-eye calibration into robot vision

Abstract

In conventional techniques of robot vision system calibration, camera parameters and robot hand-eye parameters are computed separately, i.e., first performing camera calibration and then carrying out hand-eye calibration based on the calibrated parameters of the cameras. In this paper, we propose a joint algorithm that combines the camera calibration and the hand-eye calibration together. The proposed algorithm gives the solutions of the cameras’ parameters and the hand-eye parameters simultaneously by using nonlinear optimization. Both simulations and real experiments show the superiority of our algorithm.