Research on Hand-eye Calibration Method Based on Binocular Camera

摘要

With a three-dimensional calibration ball as the calibration object, the binocular camera was fixed at the end of six-axis mechanical arm, the movement of the mechanical arm was controlled by the Eye-in-hand calibration method. The robotic arm is kept in different positions to acquire the point cloud data of standard ball through binocular camera, further calculate the 3-D coordinates of the calibration ball in space. The homogeneous transformation equation was used to establish a mathematical model, and the calibration matrix was solved. The final calibration error was within 0.2mm.