Online Hand-Eye Calibration with Decoupling by 3D Textureless Object Tracking

摘要

Hand-eye calibration estimates the pose of a camera relative to a robot, which is a fundamental problem for visually guided robots, especially for dynamic object grasping. Most methods use 2D fiducial markers with distinctive visual features and require pre-calibration for accurate calibration, which can not work online. In this paper, we propose a novel hand-eye calibration method based on the natural 3D object, which can work online and automatically even if the object is textureless or weakly textured. We first propose a Pose Refinement Network (PR-Net) to improve the accuracy of 3D object tracking. Then we build a 3D convergence point constraint based on the multi-view information with the accurate object pose to adjust the object position. Finally, we optimize the hand-eye pose by the closed-loop constraint with the optimized object position, solving the problem that is easy to fall into a local minimum. The experiments show that the average error of our hand-eye calibration method is 1.20 degrees and 23.18 mm. The results achieve state-of-the-art by using the working object to realize the online hand-eye calibration.