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Open AccessArticle

Methods for Simultaneous Robot-World-Hand–Eye Calibration: A Comparative Study

Faculty of Information Technology and Communication, Tampere University, 33720 Tampere, Finland
Fusion for Energy (F4E), ITER Delivery Department, Remote Handling Project Team, 08019 Barcelona, Spain
Author to whom correspondence should be addressed.
Sensors 2019, 19(12), 2837;
Received: 1 June 2019 / Revised: 19 June 2019 / Accepted: 21 June 2019 / Published: 25 June 2019
(This article belongs to the Special Issue Intelligent Systems and Sensors for Robotics)
In this paper, we propose two novel methods for robot-world-hand–eye calibration and provide a comparative analysis against six state-of-the-art methods. We examine the calibration problem from two alternative geometrical interpretations, called ‘hand–eye’ and ‘robot-world-hand–eye’, respectively. The study analyses the effects of specifying the objective function as pose error or reprojection error minimization problem. We provide three real and three simulated datasets with rendered images as part of the study. In addition, we propose a robotic arm error modeling approach to be used along with the simulated datasets for generating a realistic response. The tests on simulated data are performed in both ideal cases and with pseudo-realistic robotic arm pose and visual noise. Our methods show significant improvement and robustness on many metrics in various scenarios compared to state-of-the-art methods. View Full-Text
Keywords: robot-world-hand–eye calibration; hand–eye calibration; optimization robot-world-hand–eye calibration; hand–eye calibration; optimization
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Ali, I.; Suominen, O.; Gotchev, A.; Morales, E.R. Methods for Simultaneous Robot-World-Hand–Eye Calibration: A Comparative Study. Sensors 2019, 19, 2837.

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