Streamlined robotic hand–eye calibration of multiple 2D-profilers: A rapid, closed-form two-stage method via a single-plane artefact

摘要

A 2D laser profiler is commonly utilized in high-precision robotic settings to capture detailed surface profiles for 3D scanning. By collecting and combining numerous such measurements from different viewpoints, it is possible to assemble a comprehensive 3D map. However, to effectively merge these individual 2D profiles into a singular global framework, the spatial relationship between the scanners and the robot’s reference frame is required. Traditional hand–eye calibration techniques typically necessitate specific calibration artifacts or extraneous positional sensors, and the process is either manually executed or only partially automated, demanding considerable time and effort. This paper introduces an innovative, closed-form approach to hand–eye calibration that can be applied to a single scanner or an array of multiple scanners. Our method circumvents the requirements for initial parameter estimates or specialized calibration implements, instead employing a flat plane for hand–eye calibration. This method paves the way for a fully automated calibration sequence comprising only three rotational and three translational poses, reducing the total calibration duration. This streamlined process has undergone strict experimental validation utilizing a calibrated sphere, proving its effectiveness not only with a solitary scanner setup but also with an ensemble of three scanners.