Hand-eye Calibration of Industrial Robots with 3D Cameras based on Dual Quaternions

摘要

In this paper, a hand-eye calibration method with the 3D depth camera is proposed. A set of 3D cube-shaped calibrators are designed, which facilitates the obtainment of the coordinates of the calibration points of these calibrators. Using the point-to-point correspondence between, a registration method is employed to calculate the pose transformation matrix of the object relative to the camera coordinate system under different camera. Constraint equations are formulated based on the positional transformation matrix, and then the hand-eye relation is solving by using dual quaternions and singular value decomposition. Experimental results show that the proposed method achieves higher accuracy, and the calibration process is more convenient for practical application.